{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# 第八周基础作业"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 1、简述仿射变换和透视变换的基本概念，并用实例说明。 "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 放射变换，描述的是同一平面中图像的变化形式，包括平移，旋转和比例变换。而透视变换描述的是图像的跨平面的表现形式。透视变换表现形式类似于锥体，在单一光源的作用下，某一平面的图像在另一平面的投影。e.g. 公路在视野中汇聚一个点上。\n",
    "#### 但是，如果在透视变换中，两平面是平行关系，也可以表达为仿射变换。"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 2、 结合图简述图像坐标系、相机坐标系和世界坐标系的定义，并说明三者之间的变换关系。 "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### （1）图像坐标系：以图像的中心作为原点，左边为X轴，向下为Y轴；\n",
    "#### （2）相机坐标系：以光源为原点，以像平面的X，Y轴方向作为自己的X，Y轴方向，以原点指向像平面原点的方向作为Z轴方向。\n",
    "#### （3）世界坐标系：这是一个固定坐标系，描述各个元素的固定坐标\n",
    "#### （4）三者关系：见图"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x24350cf7e10>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import  matplotlib.image  as mpimg\n",
    "import matplotlib.pyplot as plt\n",
    "pic = mpimg.imread(\"./各个坐标系关系图.png\")\n",
    "plt.imshow(pic)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.image.AxesImage at 0x243512fcfd0>"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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QNaVjlWEYSfFjmiCUBCSvkTL5jDGEw2HhQaQa/oRnkH5BSI2f0r8pNi8zjcgLpxBJfX09HnvsMZSXl+O+++4THgwleylXASRz3rsDxhS4XC5RQVtQUCDK2nVdh8vlsBjy8vK6fUwCsW9osbRtWxgfn88nqihzcnJExy36LAo7uOJ1DbLMgzyGANDU1ITnnnsOGzZsgN/vRzQaxaxZs1BUVITS0lJRqBOJRMR4A8kJTnlBTzd+NObyfaLX5UbxMm+8OyC6obwzMQwDlmXB7XYLo0VNfLraeck7HNol0jwhzz8ajeLRRx+Fy+VCMBiEz+fD+PHj8f3vf7/b53yuQWbi0X0wTUPMuVgshpaWFqxatQperxfjxo3DyJE1+Mc//oFx48aJnTYAh9kGGza3T5AzcRh9fWdndMEZfof2x8TP8kNJXqTb7YZlWaLYg7bCsVgMkUgEubkBkCaMHArq+Tkx6St5MaCJFwwGRcyevnw+H/bt24chQ4aIBSgcDgtvnx5sMkqZNGqhMZKLwWTD0hthEjoXOi6FtujYFRUVsCwLy5cvR0FBgUi4E8MqVd8HSBhLMrJutxtz5sxBbW0totEoKioqEAgERMENHY8a2dOCQsYxFAqJ8Uy3Q0jd+stGge4Zhac6S0inA10TLUxEn2WMIRgMIicnR5x3uvsqh7poJ0s5n2g0msSA0jQN3/ve90SOaevWrTh69GifTu7Sc0U5Mc5tcX0tLS1gjOGxxx7DhAkTMGvWLKiqivHjx+EXv/gFPvOZz2D48JHgPLkRkKIojmYWIBh2lmX3qQ5wF5zhT4dIJCoEnWKxGAzDwJ49e1BeXo78/Hx0dHTg8OHDKC4ujidOeyc+LD9QjkHv/AHz+Xzo6OiA1+sVXn8gEICiKLj00ktF8hmAMIjkoZOXfK5r2chCV6ZpoqysDDfd9AXU1zdg5syZImFN75Fj03RttODRfdQ0DSNGjMDkyZOT/o4qnQHHsLrdboTDYbz88stobW1FSUkJPve5z8HlcnVp+MhxiEQiwoumXMQHH3yAuro65OXl4fLLL8+4qpMWEFrw9u/fjw0bNsDj8eCqq64Sxp+uszvHU1UVHo8H0WgUb731FjRNw6hRo1BVVQW3241JkyYljWdra6vYPfY10D1LMHEgnCPaCSxevBherxeVlZXw+Xyor6/HkSNHcMkll2DDhg2wLI7Ro8eecGwifCiKAnCHItqX1sYLN7uVAq/Xg2AwCEVR4PF4sH79evzmN7/Bhg0b4HK5YBgGnnnmGbS2tvY6w6GzZGQqaEvf1taGl19+GS+//DKWLl2K0tJSqKqKP/zhD1i3bh00TcPzzz+P119/HR6PJ0lxkLzhcxUU9gESY1FRUY4JEyYgLy9PeLupYTUK+ZBBJ4PpdjsJezKKsgGnmgQK63V0dGDhwoVwu92YOnUqSktLk2ifXYV5ZNoj4Cw+n3zyCV588UWUlZXhwIEDWLZsWcbjbxgGotEoLMtCS0sLnnzySfj9fhw5cgR/+MMfEAqFEA6HxTWnG1M5hEWL1EsvvYT9+/fD4/Hg0Ucfxf79+yVqbiJURY5DX4S8C6T8F4UwKXz5zW9+E9/+9rcxebJTIV5aWoovfOEL+NnPfobrrrsOo0eP6vTY3KYwI+38+5YpzXr8cXR0dCAnJwDDcOJ/ZWVlsG0bVVVVCIfDWLRoUVJsOJ188qmgK8OvKAr++te/YunSpfjxj3+MgoICzJ//Zcyb90WUl5djzZo1WLVqFW6//XbBCqL4Lcka9CXQDsWpSUh4qRRyIQYGhehIaVGOy0ejUbS1tSV5zgBE+It2RseOHcOSJUvwwQcfYOHChYK2SzFgyj905lWnLg5UOf3YY4/hK1/5CsaMGYPJkyfjiiuuQH5+PmbPnt3tMfB6vYhGo4jFYnjyySdRWFiI66+/HocOHcItt9wCTdNwzz33dBnCo7AVXXssFsPf//53/PnPf8arr74KXdfx/PPP4+GHH8aDDz6Ifv36iXwBhYUon9AX0VmMn3Mudni066NQLgDBqHPmkdKpJ29aZpzqaUGNFxNalg1VPbd31YS+tUydRrhcLqHj4XK5cPjwYYRCIVRXV+P48eN4++23MWrUqPj2Ti7gOBnSTYRkHnmikrLzv+GcY/HixZg5cyby8vLQ0NCASCSM2tpa9OvXD7fffjsOHz6Mw4cP49Zbb8WNN94IVVWFrGxXi8q5hER9guNlqmpy+IQMHBkySkzKXrdlWSIcRttxer+cYKUxWbVqFV5//XW0t7ejublZ1E8Q66grZhQZXbkStr6+HnV1daioqEBRURHcbjd8Ph+2b9+e0VjQzoaqt2tra0VuZ8iQIdi4ceNJdYoovk3nZpomdu/ejVAoBI/HA03TMHr0aNTV1aG5uRmmacDl0mFZJmzbEvmuvggy9JqmJREJaAdAzwOFRCnHRE6Tkwju/NpdurNr0KR50ReeL8IFaPi5+E+GzNs3TRObN29GRUUFAGDTpk3Yt28fampq4iGCGDhsMMahqAy6SwOYfDyW5sv5fIADzPl70uMBAE2jRYWBMQUAgyP3wPDJJ59CVTXMmHElVFXHmjUf4ujRYxg0aBAURUFRUZGQj026WomemlkCOt01dHVtp3ZszhkYU8E5E+OgKKoIV5Dhl8MX8uvOGGpJcXz6OfU1Cmfoug6v14twOIwZM2YgJycnTk91CakLmVLbGSgxSsePRCIIhULCUzYMAz6fD42NjRmNEs3HYDAIwzBQWFgoPFbOOdrb28X70t3bVFqyaZqor68XleCxWAy5ubk4evQoWlqaweLzUlUZdJcKTWNgjIMxx/un6wEA2+aigI+8asMwRG8FOfFOO2l6Ly0mmZIikokQyXIqVLFOeYnOwnNObscHRVHh9wcAKAgEcuE8cyq8Xn9cDkSDomhxjSppPOP/0Y6RzsE0LWha3zGn2VBPHA7dUREe4QcffIAZM2Zg69atWLduHaqrq+H3++MPuQLEBdnIM3JE2xJCYgmwxMviJUnMjSnxzYMChWlxg48TjrF8+XIMHDgIgUAu3n77bSxZ8jouuWQKQqEQTNPEzp07MXToUHz66ac4evQodF0X0rMUpsjcIzmd29auj+0YfgiWU9JfplA3ZUNOr8lx+XR0TDJI5OFfeeWVSQaejplK80xF6utEu83NzQUA+P1+hMNhhMPhLq+5s+Patg2Px8k/yXRRylFQvUe6QivaAVG4h84hGo0KFhsJ74XDYaiaClnDxrQMAI5eEv291+tFMBiGy6ULlUt6buQdEIUaAYhqcnmRSmecuzs29J1Cm7Sw+f3+pAUltUqbMSUpJk/PXOJUmDT/TqKzBcoZcWha32E/XZCGX9wc6aY6CdBETJPCKZdffjny8vLEwwFQgZSWdAhngpw+Q1lbW4uf/OQnsCwLtbW1CAQC0HUdCxcuRF1dHe644w5Mnz4dv//97/Hpp59i/PjxSd5hX5mQZxKMOfrr69evR0lJCaqqqpJ2SJkcR35/Tk4OCgsL0dTUhMLCQrS1tcEwDAwcODDjc6TQY0FBAY4fPy52FJFIBP369QPgUG7TVTOTl03G2OVyiXOi8z548CByc3NRWFiY7gLB4g6NYRh44okncOTIMbjduuih8LWvfU2wf1Lp0bquJ1W2UwitJ0Y/dS5zzrFnzx689NJLaGpqgsfjQV5eHq655hpMmDAh4+NfKLjgDD9HggECMoqgnrYavF4v2tvb8etf/1p4UrfffjvuvvtuHD9+HECqHozjwdhpWib2Fq677jrk5eWhtLQU5eXlGDduHADHmwwGg6iurkZtbS1Gjx6NAQMGCK+HHvrU4qIsHHDuaAXdfPPNKCgoEF52pkZJLo4aMGAAJk+ejE2bNmHQoEFoaWlBQUEBrrrqqoyOSQa0X79+mD59Ot555x3MmjULBw8exOHDh3HDDTcITzdd8p6MJJ2f2+3GVVddhXfffRfhcBiapmHdunWYPXs2hg9PX6HrhGYcY75q1Sp8+9vfiRe/hVFcXCw8eZINoSJEwOl9S2ERahQk70RPFXl5eYKu6/V68dJLL2Hjxo1Zw98FLjjDT0gYfwDckQiORBI9OHVdF1Q6KuTJy8uLb7GjUFQ6RjzBmBTq6X0wxjB16lTRaKW6ulowVSi+6vV6UVNTg1AoBCCxlZZ52Vkk48iRI+Cco7a2FkDmCbrkEIIzxjk5OZg3bx6efPJJFBcXY+PGjfj85z+PQYMGZXRsWZBv9uzZWLVqFZYvX44dO3Zg+vTpuOyyy0T9QLrzlsMuNFdGjBiBOXPm4JVXXkFVVRVKS0vjxUtpCtTiDoSmOTUT5eXlmDlzJgBHoNA0zaRCN+qlfODAAbS3t4uCKU3TMGjQINi2jUgkgpycnIwTx3Jcn1BcXIyrr75aUDa3bduWpHOVxYm4YA0/gWJ0lmWLOKTb7RZG00ncmILPTFQwDhK36r7i5amAPHZakGKxmFADJWojPWBEUZP560DfYh2cCSiKgv3796O0tBSDBg1KKg7r7ljJiVOZOTRu3DjceOON2Lp1K4YOHYpJkyYhEAhkdH50b1VVRWFhIe6++25s374do0ePxujRo1FcXJwUV+8M8k6PZDtcLhe+/OUvY9myZThy5Aj+4z/+AxUVFWnnMVMYmA2RuOWco7W1DYWF+YL6SYsU0Wkty0JHRweefvppbNmyBbfffjt27NgBRVFw5513Ijc3VxjqnkDO29A9o/tmmuYJJIcsknHBGX4GBUyJPxCUBBQl74kkYdeVijYUlkhSBQIBGDEDpzPGL2+JNU1L8mjS/UxIlTXoDmgrDiR0fkjGghgvRHOk7f25ALmYi34meifVNJB4W0FBAdasWYP77rsP/fr1E9cpyxLTMU/2meR1y3+XCWc/HWgxcblcuPTSS3HppZdm9PedGXNiLd18880pv+HgcBweWyr2ApzKVNO0BT3Y7/eLxDCQmHfEh1cUBVVVVRg7diy2bduGL37xiwgGg6ipqcHu3bvx+OOPJ7U/7A6IvUOLzLp16zBmzJgk2XRavN1ut6StxZNYRHSfyJGTa17oPkaj0fhYueOhUg7GbCiMgceZeE54iwOcGvxkdGvOKk7qqjLGnmGMHWGMfSq9VsgYe5sxtjP+vUD63X2MsV2Mse2MsVmn68SzOHOgHMGiRYvwn//5n9izZ4/gxsvUynMBqaEA4mwT/U5VVTQ1NeHPf/4zVq1aBb/fj+HDhyfp9J+KJ3o+wMmDJfjumVIuaQENBoNYu3Ythg4dKnYlgUAAmqYJamgmx6Z7GwwG8cYbb+CJJ55AU1NT2sUjoc+TSAgrioJQKCQMN2MMhw8fxo4dO3Do0CE0NDhqt1u2bMGhQ4ewZ88eh+0UZwHZ3AYDS1pQEzm/jIbprKI7MYrnAFyb8toPAKzknA8FsDL+bzDGagDMB1Ab/5snGGN9T+QjC/FQkgdEhvEf//iHMI7RaLRHidDTCblCk1g7Ho8nyRiVlpbi6quvxkUXXYR58+YJKQiZhXKhQ1VUIXmhKpk9wlTx3NjYiPfffx81NTV477338Pjjj6OmpgZ33nkn/H5/j8IxjDHs3LkTixYtQlNTE/bv35/2veTRy84JhXLpZ03TsHPnTjz++OO49tpr0djYCMMwsHjxYtx///3YsmULLMvR0OJxBjbl9KiCn56VvsSbOGmoh3P+LmNsYMrLNwCYEf95IYC/A/iP+Ot/5pxHAexhjO0CcDGAD3rndLM4U5DDQ6qqwufz4fLLL8drr72WtK2ngrdzBakUVgrzUBya8jhjxowR10bS02T4ReL/AoQi10hANmrdN/7E8FmzZo2gnj744IMYPHgwfvWrX6GiokLIbPRE/K2mpgaqquLqq6/G+PHj0+4a5II9+XPkGgDDMDBp0iREo1Fs27YNEyZMQHNzM4qKinDbbbdh6NCh8aQ3OTgMZrz/s67rTsiXMViWCV3vOz5uT9eoUs75IQCIf+8Xf70SwAHpfQfjr50AxtidjLGPGWMfHz16tIenkcXpAjGbyIBSVSR5+/QwnWtSEKmhJ6IYhsPhJB17+iJpYsDxVKnq9MJF8rUnGGvdR2trK7xeL5YtW4bp06dj3rx5gsXTr18/IY8SCAQyMvykuLpz507s3RQdQUkAACAASURBVLsX48ePFzLqnUFuR0rOidxPmEJ/LpcLgwYNQkFBAXbv3o29e/di1qxZGDx4cFJFshPnZ2IHFIvFRL6gr02Z3t6cdHb5nVoFzvnTnPNJnPNJJSUlGX4MP+HLti04TdCjdPz4zWZiS2mahjidE6s4TywOATovKedxLW662pMaPpbyD+5IufL4d6dykMO0YvEK4BNB21b5s2ji0Vc4HO5RTDYdKJFGfYepShRIxDXp92cL9GAndPgtcG7GZQZYvG1ePGQR353ougpF4XC5NdFvgd57KtWkqedFIOPRGbqb3JTj4fKxersVoM0dQ0+7HlXToBJdlJg08XIu51E68VnMy8vFvn17sWXLZsydeyP69SvB7bffjvfffx9+vx+maSI3NzdjmrGiKPB6vXjiiScwbdo0jB49OqlGhSDr8MgyEhTuo6S0XI9TUVGBGTNm4IEHHsD+/fsxYMCAuMaPDlVVEhLMcFhOVOkcM8j4n2fJ3TQ4zBgrB4D49yPx1w8C6C+9rwpAQ89PLxmkGcLErKPONxyxWBSMIR5zs2AYMbS3tyMcDkmdhrgwwozJkzfRzlCOCwKJmDE9eOQBiXvc7arYVC0fBaTHQ4aHFq90oEYwAIRUAxn6UMi5zo6Ojl7zWCn8QfRR2YM6HehMh6U715IwrNzRTGI2ANKF4SI+64R2nHJ93aWC2848kY0AFR/1xrWEw2HR9AQ4cTGgeZZuUaDdijwW5NDIonSUn+gJyEgKemR8CG1uC/YKB2DBMXiAEw5SUrWnpC/GgIaGeuTmBjBu3FjouoZJkyYgNzcXmzdvFpW8mRIDaOe5Y8cODB8+XDSJkY9D7DM5mStyFXHGT+qYUqx/8ODBaGhowEUXXST6HMTrPBPnEH+OVUVFTk5O0q64L3n9PTX8bwD4WvznrwFYKr0+nzHmZowNAjAUwD9P7RRPjmAwiNbWVmzatAm7du3C5s2bsXfvHjQ3N2HPnj0izsgYQyzaeWk754nwBj1g5AXK8W7OecbJrs43PSfqyZMUbDroug6fz4eWlpYkA8UYEyEMr9fbK4aZFhWquKQJrmmakAggVcOzFeqh+K2svuiAd773pN/R3ytM7ALIyPZWTQY1kaddhPy6XE1NTklnoHAaCZBRXJyS0WTgelIBS/0Z5KY9nZ2HoxHIHC6/ZFy7MtirV6/GX/7yF0ybNg0bNmwQKrdf+cpX8NRTT2HFihWi4phok91FNBrFqFGjUFpaCrfbjZaWFtGek55PyuekA409OVGKoqC1tRWrV6/GvHnzUFNTI+xAX1UmPRlOOlsYYy/CSeQWM8YOAngAwC8ALGaMfR3AfgDzAIBzvpkxthjAFgAmgHs456d95Px+P55++ml0dHSguroabrcbhmHgtdfewLhxY3HrrV9DSUlJPMbbOWODsvMk8UuJPzLK8raQc06b3V6B2FbH44+dQZ6ExDtOJN6Sy+V7oxSeYq+ypj/tiILBoDh+NBpN6nB0KujpApKcvMvgGDzZiNH97kqGubvQNE3o51CYTFZJlYu90rGIZMkNue0mqWPSa9RZKxNQIaBhGEJCwQkzdjKvedzPtemf3PGUeOcLbE1NDYYOHYqcnBxRuasoKubPn4/Pfe5zYjGUd1rdhaqqeOihh+IhPKd2ROb20zPS1YJCWkHU14Eovlu3bsUtt9yCSCQimrWk64jX19EdVs+X0/yqU+ERzvnPAPzsVE4qU3R0dMDj8YhmFy6XC6tXr8bmzZtx4403oKSkJF4sYqQ9hrPlThhSeULKwlOapoGjd1ksqQVHnUFuiEFJLo/Hg3379qGwsBAFBQXCsPRGMRWdExmt5uZmrFixAo2NjfjLX/4C27ZRU1MjzutsQabrZbxwMMAyLVhWsiHujUWMegIDiZaHpmkKaikxiCinkE5ZMxEGtIWHL/cikJlVmSz2CSnw5MJAJ6iTDEfVRFLDtJ2vdMjPzxd8ebpet9sNRdGQn58vHKye8PhdLpfQoaJrpgWRFm7GWFrROgBivKjqOBQKYdeuXTh48CAGDhyYFBLqiy0nu4PzonLX4/HgpptuQm5uLhhjePzxJ/D000/j97//A6ZOnQJVpf6sbti2BbUTL8Px+rjwHiORCNrb25GTkwOv14vW1lbYtu18Ri+lxFMNVVeJWbfbjVAoJBJTa9euxdtvv41LL70Ua9euxa233ory8nLhaZ6qMabEG4VzioqK8NWvflWoMPp8vhMqiE8V6Qx3urCCnHcRhikDj5/bHKZpYcOGjaivr8egQYMwduzYEyp3ewKKYwPOff3oo4/Q0NCAxsZG3HrrrQgEAmKx6mqXR9fIGENjYyN2794NRVEwevRoFBQU9FjpMhKJYO3atWhvb8fEiRNRUFAA2+bQtc417AFAgdTbQGFJ6rYyLMtCW1sb8vPz4fP5YBgGFEUVoTRi+JBgW3dB9zgSiQhSAc1PmaXj8/m6rBEgB4net2rVKqxZswaTJ0/GypUrMW3aNOi6Dr/fD+s0iy+eLfShkgNnZ0nbOiDhtaiqioKCAqiqiubmZixc+BxmzrwSU6dOjZeaU1jESlrNASeJRZV85EVwzvE///M/uP/++/HJJ58gGo3iww8/xIsvvojW1lZxMrS1DAaDiEQjALhIhLa3t6O1tQ3HjjWhtbUVzc3NaG9vF60AZXTHyNAD53K50NDQgIULFyI3NxfXXXcd+vfvj2effRbBYLDHHr/Me5dL3eVm5oWFhcjLy0NRUZHQA5IhJ8dPBsohUGyZvofDYUQiEcRiMXEu8oKYWpCTmjhlYEll+XL3KXnbzsBg2RY++eQTrFixAgUFBXjttddw8ODBExbfTJOQQCJMY1kWtmzZgnfffRejR49GXl4ewuFwknZOV8emudHW1oZHHnkELS0tWLt2LRYvXixYVt3JTciJ4lgshuXLl2Pt2rXQdR2//OUvEQ6HneuOixZST1nnubBo0JKR5j4rioKCgoIkHr2mqWIu5eTkAEDaEFc6UM5NTtbSokeeOd3vkx2bxkvTNEybNg3f/va38eCDD2Ly5MnIycnpYf+KvoM+5fGTISLDSTcnGAzC6/Viw4YNeOCBB/B//s/N+PrXb4euq8KrcLaFilNyzQBN1RAMBQFAeB3y1vySSy7BypUr8be//Q3jxo3D1KlTsWnTJifBFjOg6SrseCzd7/eLMIymafjkk0+xaNEiHDvWBEVRYZoxwRG/5pprMHfuXHi9XmGYumNULMuCz+eDbdtYvXo1tm7dim984xsAgFGjRmHRokWYO3cuRo0albGRIoNAIS3Z+KeGvGSk6tnI10KJws7CD2QU6XeNjY3YvHkz/H4/xo4di3A4jM2bN+Oyyy6DbdtiV0EPYiorQ/6dMDYsYfBpOBzGFBOvbdu6DT/+8Y/xyCO/wcCBA6FpGu69914sWLAAlZWVp8SOIsNeV1eHhx56CM888wz8fj+GDh0qkrNkoNIZGCo+A4A//vGP8Pl8uPbaa9HQ0IB77rkHlmXh7rvvRiQSgc/n6/Q4ZLxpvA3DwIcffohHH30US5YsgdfrxdNPP40f/ehH+PnPHwJXHS0aKkOlsbSlY5O0eTpQcpXmUIImmwiZEk5ldyUbbzkXd7Jjyk6DrusoLi4WY0Wgud7Xmqh3F33K8Dsxt0T8nTEmWA7bt2/Hr3/9azQ1NWH+/C/F44AJY+RMDCAWi8IbFxhjQJxN4wJjCoLBELxeL0zTRGVlJcaNG4f169ejvb0djY2NmDlzZrwBitRqkcndnhhM08Dw4cPxr//6r9B1HcFg2Flo4h4PbSF7wrWnmOOhQ4eE52RZFoqKitDY2IiGhgZh+DPxVmTBqkwWo1TIOYrUPEkq5EW2rq4OzzzzDNrb27Fs2TIcPnwYv/3tb9G/f38MGDAgyXid7NycxGNcbiy+k0hs1yUmFTg+/fRTNDY2ory8HKqqYsCAAairq8OOHTtQWdlp3WFGY/HRRx/hzTffxN69e1FfX4+ampok3X4yLuliyWSsjx07ho0bN+Kyyy6Dx+OB2+1GeXk5tm7dikgkIpyKdM3gSbWVvm/dulU4S4wx1NbWYvXq1di3bx9GDh0MMMf4R2MxRCNRWNwGyyA4IMfc5Z2jZSV2yQCS8irnAnqLBt0X0KcMP+c8Hi9M0NxoIi1c+Eds2LAB3/nOd1BeXi4lZzQ0NTUhEAggGo3A5dYRM2KIRp0FIBaNxWOGiTCQ2+1GLBbDgAED8OGHHyIYDGL//v2YPHmyE86wGTRVgaZqiBhOWMK2bPHwrVv3MZ566inU1zfA7fYgHA7C5XIhGo1i7ty5uPnmm+H3+zPydJymFxHB2ZbpixT/J1pbphBx2/jxaFw7CxmlO758XxKeducLEP2OkmujR4/GZZddhmeffRbhcBjl5eW4+OKLEQ6HhcqiHOLpamHjPN5PmScMkLwbIJ65aZpob28XsV7bthEIBNDW1oa2traMxzAVsVgMBQUFaGxsxKhRo1BSUiKomxSLpvufbh5omiZCXx0dHSgtLYVtO60YvV4vjhw5IpwJmWmVOh70nSic+/btg9/vF89OaWkpjh07hqNHj2Lk0CFOjWGKSFtnebF0kEMvFJol+rGcs5DnybmAzs7jHFmTeh19yvC7XLqgX5GRbW1txXPPPYd3330Hjz32GC6++GJEIhHU1dVh8+btuP762cjLy8Mbb7yB1157FR6vC7bt9Fj92c/+PyiqArfLLfqukt44YwwVFRXYtm0bNm7ciKuvvloyNo5sraIwcEA049Z1DeFwBBMmTMCCBQvAmALTtMAYYBgxQZujUvVMjDTpvRuGgX79+onYN1HRSktLu9RUP9mxyUNvbGwUJfGdPQjpYtKMMQwYMADDhw8X1Nl0sWe5MToAFBYWYsqUKXj55ZfR2tqKo0ePYvbs2bjooouEp0reo+z5dzZ+iqKA20wsXE5thNygPZFfCYVCIuZNRpYxR8jtVEEGubW1FfPmzUNpaanw4GmHRXIR6e4ZMX+oTsXr9YprjkajolEQ5zxtkpTGiypPw+EwgsGgCA2RjDLgJE05nPg+UxV4PR5HflnVkAmrkbz9aDQq8lLRaBQejy+pRzAtLOdy0xTGzk/j36cMP497cUQxVFUV69atw5/+9CeMHTsWhw8fxltvvYVDhw7hf//3LfzLv3wXHo8HhmHg97//PWbOvBJf+cp8bNm6GcuXL4emOUUahmlCVTWhQUPeiN/vx7hx4zBy5EixC9A0DQwcClNgWaZ4mC3bEh6m260hJycn/kAzGEYMqhpIanadqWcuxzP79+8PxhhI46i5uRnFxcXo169fl5TQdJA1d/Lz8zFs2DBUVlamTZB1ZvhjsRhycnJE+InuU2fnIiflacxKSkrg9/uxc+dOeL1ejBw5UhTWUHiMYsUno9hxm8NmidoIzhMPsKO34uR4vPFGNrR7oh0I9bI9VdTX16O9vR0DBgwAgKTFigrP5F1AKiiUWVhYiNLS0gSxABDN3HVdTyrESoUsNU0LaGVlJTZs2CDeQ8178vPzndg+t8GF6iqHzW0oKaEe3oWTHo1GBeuLaJ1r1qxBc/NxRCIReL1eDBs2DLW1tWdV7uNCRp8adcYUuFweWJaNnJxcAMCkSRdj1aq/IxaLCW/d5XLhttu+Dq/XA0UBli5dgmuv/Qzuuece2LaNayqrMKp2DDxuHzweH7jN4uqDidnscrkwePBg/O53vxOvJZgsNpymDAmhMganG5fDWJALihhU1dPJMRLojrSx7O1OmTIFN910E1auXImysjKsWLEC9957LyorK8WxMtk+y/F4j8cjdiYAhKGVu5BZliUqG8m7S/Va03nk9DsKM9D7/H4/8vPzceDAAcyZMwc5OTnYtGkT3n33XaiqitGjR2PSpEniHGhxljnuzv1ToapuUBKXcxuaJhtcFVTkNf2yK/D6kjdRX1+PyspK1NXVYfz48Rg3blzS+HW1kNLOixYOIhKoqop3330X1dXVGDNmDEKhkEjoy8Yf6DwBDiRCcHl5eZgyZQref/99XH/99Whvb8eRI0dwyy23iHskJ8tTz0++Dr/fj0suuQRvvfWW2Hl8/PHHmDx5MoYOHQooDLAZlPgcUpkCXVGFppSiKIiZBpiqwuI2YtGIqMIleiXlEmgukryIrutobGzEtGnTRNgyE64851zsTuS/kRPINB9l6RW56K2rECHNK7o39F6nH7eT6LW5Cc5tsZjatg3l3IhUZYQ+l7KW2SeMMeTk5MDn86G4uBgVFRWorKxEcXFxPIbuTKyjR48iJydHhAi2b98ujFso2DMPvDeQagAikYiYoKmgSkTbtpGfn4/Pfe5zGD16NDZu3Ija2lpcdtllgknTG2Xm8uJBD6fMpqH+rXKyLhPIOQDGGDweD6699lpcffXVooH8unXr8NnPfhaDBg3C9u3boShKUhKTGBwkH+GMp6OD1HU3NCcRX1XVHzfddBMWL16M/fv3491338WXvvQlwfLIZJwURYHf7xcG2LZtbNy4ESNHjkQgEIDP58t4nMigqaqKK6+8EvX19Vi3bh1WrVqFIUOGYMaMGUILKN38pUVZzgmNGjUK06dPx4oVK7Bz504AwK233tqpUwLASZZLuQInxGQKTj4xr2jBCwaDotGKoijw+XyYNm0aDMPAVVddhaqqKgwZMkSEmjKB/H7DMNDW1ibmPTkUoVDohOeoO44Q3Uc5AW/bPD52iY57qQyyvog+5fHL3iwNPj1kqSEOxyA57yee7vHjx0E62vPnz08xYhxnukgvldlBCoKdgcJbHo8HkUgEJSUlmDt3LpqamlBUVIRwOCyKYnw+3ymfG40lGXxZoI08KIqPZ8rHlhO1ZBy8Xi/mzp0r4r3BYBANDQ1iEd+2bVvS58iLDqkvZkoNzMnJwfXXX48333wTr7zyCmpqanDVVVdllHAkRyQUComCIJ/Ph1AohAMHDuD+++9PmqOZgDFH6E3XdQwZMgRf//rX8fe//x0ulws//OEPUVBQIMarK945zRv557vuugt//OMfsXPnTtx3330YMGBAfO51ZhK4iHOTKiWNeU5OjtAQ4pyjpaUFzz77rNilUDgnGAxi3759mDNnjjD4XYUDOwPnjgLt+vXr8d5776GgoAC33XZbUm9pzjk6OjqSKLMyLflk91WWKHEWcRWO6q8FRXFChqmLVV9cAPqU4ZcHmGLDyeJcySAN+bFjx+KRRx7B5s2bUVRUhIsvvjgpWUg00TMNmrD0IOTm5qZN0pE0AlXNUmirvLwchmEIiijpFJ2qbIPMj6dQzyuvvILnn38eCxYsQP/+/eF2u3v0ObLRp8/RdR25ubnCgHs8HlRUVODIkSNoa2vDoEGDEIlEoGka2tvbxeLmcrmQk5MjWvplAsMwkJ+fj1tuuUV4i+3t7RlVk9Jx/H6/OPdYLIaPP/4Yd911FyZNmtRj9gol9MlAXnHFFbj00ktFvimhOtu1NDYt3pRLiMViKCsrw3e/+11Eo1Hk5OQgFAohvc4RA5065xyRSBSmacUr3EPCeG/evBkPPPAAnn32WZimifnz5+NnP/sZJk6ciH/+8yNs3boVQKLvAeUnMlmsI5EI9uzZgyVLlmDkyJG46667klhujDF0dHQk7VBo5wSkN/yyM0k7JACwLFPsmpy6oCAUhQGMFH5Zl8c9V9GnDL8MmW+eTNdL3pbSTRs/fjzGjx8vElly2ffZ4hGTFyiLgqWbQKnnSUZejhOTHn/aLXsGoK0yPTSccxQVFcE0TVRUVIgdSFcLb1eg65YfeooL0+8mTpyIF154AX6/H5MmTRLetezNyTskOTnfHchb+nA4DK/XK/T5uwsyvAcOHEBxcTFWrFiB4uJibN++HfPnzxefQ3HvTEAGlaqc5biyrPNDIZd07Bi6f/ReYvRQspd2FYbR+flRYjzxnAEkbxKLxeDz+XD8+HF88MEahMMR5Ofno62tDdFoFC+88AJGjhyJ7du3IS8vD01NTSgpKRE5okwRCARw0003YfXq1WJcaUflnFuiABFA0nWfbPGNRqOC6eV2O03WW1vbUFraD5ZlwuVyhOEi0XDc4LOuI4rnMPqU4Zc5wLL3T0ZAvvlU4ETSr1Ta7fF4RPEKJYKdSZFWegRAcpjJspwq4Ex0YTqDzONOXbRSQTzoVC64LABG/WUzXcgSNQ+JXRAtRB0dHcKT3b17N6qrqwE4EgIFBQXg3KmcJl44kEhEd7UFTj1HuhcU3igoKEAgEBBGQhb3kvM85DHKsdnOjt0ZiBbs8XiE4mmmOxjyoPv3749oNIohQ4bgyJEj+PznP4+SkpIkuYmeUG3pWuk6qEKcdnXdiZPT/ZRVMWmnS7kHwzCcgi44vSYYcyp25XOmsXckDZxFyev1it3He++tRmlpqXj2amtrsXbterS0tOBb3/oWNC2hpkmMpUzChDSXXC4XVFVFe3v7CTUBqqrC7/cLWYjOnEGZDkzhym3btuGFF17AxIkThfT5m2++iUOHGvHUU79Hbe0IkdfweLxoN2KO588T+lB9ifbZpwx/qiFJfaA7+11q82zOufB4yHB05QnIcXiZSsh5XJqZJ6pKTyfkaz9RUTHZqGTqScnMD9lbUhQlTsNrBucca9aswfDhw/Hiiy+ivr4eX/7yl1FWVoaFCxfi6quvxsiRI5OoifIC0tX1yGMnc9I1TUNZWVna85YTxPI9lF9PMH46PwcynpTr6Qko7OTxeDBu3Lik85Ov/1SlCQh03pn8fWrIg/j1ZASd3UI8OU7cdZZwChRFA+eOkSUaqQxSuwwEAjBNMx46cuZTKBSKf1bCcAM90+qhBZquQXaEaFeUn5/vUFORcApp0ZKLAWnRIGnxL3zhC7jooovgdrvxxhtvoK6uDtdc8xlUVVWJa1FVVSraZ/G6Bxt9jSfTt862F0DGQE4Id2W0yRuXk7CMMUfzJ96CLcEo6Zug0AH9TAnw9957D0uXLsWYMWMwcuRIbN68GZWVlWhpacHy5ctRV1cneNqbNm0SLBt553WmQbs9eRHoiTzGhQy5yXpXonucc5GDIJVQCp96SBaFUcjq1M+LnlXaRfl8PpFYzuj6UualrusoKyvDiBEj4PF40NTUhB/+8IcYOXIkvvOdbyM3NxAfh0TxYF9H37+CDCGHiVJDRp2BHgDalpK3ojDFqXBMocr1Rei6LihwNKmXLl2K3/3ud1iwYAEGDRoE0zRRXV2NK664Ap/97GdRUFCA7du3AwAuv/xyQS2Ud0Rn4wGR1Txpwe6pJ38hggTYFCXR3UxVOw8MULjF6/UiEAjgkksuQXNzM4LBIHRdx7p16zB9+mWorKxMmz/IBKm7O6pczrTyN3Veut1u5Obmwu12o6mpCffeey+++c1v4re//S2Ki0sEY8nt9sDmNgwzs4XmXMQFZ/iB5IKl7vJ7KZ7uGBRFbBUVhfU4UXUugeKmFBZ48803MXToUMGdf+GFFzBu3DiUl5fD6/WirKwMtm1j//79CAaDKCoqEt4eLQBno22dHP8/WagnixPB4v8jz9oxeul7Anu9XkFlJbac2+3Gnj174PV6MXPmzKRuWaeK1GRuT3dzqXUkZA9+/vOfY+/evfjGN74Bv98ffyaSO6D1Zve9s4UL0vDL4QjavqXD4cOHsW7dOjQ0NAgWA4ftaPWoCmzL2ebaXTRJP9dBYS+5oUVdXR3Ky8uxdu1aLFmyBDt27MDEiRNFjDcQCODTTz9FW1sbxo8fDypcImaNnCs4s+BxQ3Wy2ALvxnvOJXCciXPm4iO67ggHJDxv8r4nTpyIBx54AAsWLMDq1avx1FNP4eqrrxasqd5ANBrF0qVLhd7QJ5980iMyg5wTsm2n/+5zzz2Hbdu24emnn0Zubi6cYjWnz4bDOLOga/p50ZWrTyV3M4eC5AfFmdU2t6Aw53eGEUUkEoZlGVDVBEXOtm0cPXoUP/nJT2AYBr71rW+hoqLC8QAYA+cWWLxPL2nmiORYBpCTTPTvMw0578EYQyQSQU1NDV5/fQlaW49j2rRpYMwRyXNithqKigqxbt1aDB48EAUF+aAOS0AieXcmHhB5+x+/GlhWDKqqx3dkJMWR0OFnjAOwweG023SasthQVUUoujoHp7spSOydngN9fqoGES2AsiBfuvAXB0tIfQNgnHoPGNA0HYAN27JgWzZU3Z1Er+xOSI1qIIgBRnkQIizICz8AqIoKhalQFQ0ACdnpsCwzzmcPwe/3wbZVuN26YMqNGzcefn8Afr8P5eXlcGoAFOh673j8uq5j6tSpGD9+PHRdF9LSAITTEgwGBasHQJJHDyTuFzkqAPC///u/eOaZZ/CLX/wCo0ePRmtrK3w+H8LhCDweb7x4i4PDBkfiXitMgX2ScPG5iPPc8Ke7GfHmHIzDtEzEYtH4a8ksEzKEW7ZsEUbMqVT1wEmBOZaho6Ojxzde9jzO1uSRpZSph+s999yNXbt2YuTIkSgsLMT999+HwYMHw7JMhEJBVFVV4vbbbxNSwTJj5EwhdbyIX25zExrTpBi1KnHR47sBZiMWM2HbDArRWDmHZduwbKcamYF1eymXeeM0f9ra2pCbmysMkZxDkcHp3EBLlHMdhhED504HrI62NhQUFYJbHJZpQtX0E+ZNZ56vzNCiMJ5hGILGSVz+aDSKcDgMv98bn5MKNE2HqjpyBU7Ig4FzyqFYiEYjcVon4PP5xWcOHz486Rx60wHQdR1VVVVip0EhKSIWEGU7FfLY0GJM7Rk3bdqEBQsWYPTo0ZgyZQrC4TA0TcPKlStRVVUluokRGGNQ4+Gf5Fxh36F0nueGv7vgwviRXKyiKKiqqsJnPvMZfPrppwAgxMl6i8GTGl88E7TQdCCjQEyNmpoaDBs2VDwkl1xyCbZv3476+nrU1dVhxIgRGD9+vEjkuVxnfiql0kDla7HjIbxQKIRoNBZ/ncE0LVi2CUVx3heORLB8+dtoampCeP9ViAAAIABJREFUQUEBbvr8TU4/2QzQGc3WsiysXLkS+/fvR3FxMWbPni0oht2FkztyHAuvz4dNGzbgnx99hNpRYzFh4mTxebKIXjoQ44YxBq/Xi6amJrz66qvweDwYM2YMhg8fLmLntAuNxWIIhUKi6pe62RGDx1koVJFMd3rUnvl8CtWSAE4oiGoz6HdyARzgPGcul0u0Kv3pT3+KYcOGYcKECViyZAkURcGbb76JMWPGYMaMGZ1+pmU7strOeKl9yugDWcMv4Gx7E8VBNIFJ24TKyx3ZhCg0rffSI2Rwu9LqOZ2QC1oSYSfntWg0Kkrs3333XSxZsgQPPfQQqqurT0i0nelzTuXxO+EVR3LZtBzPtK2tDR0dHeLvaKFVFMAwTPz1r3/F7t11mD17Nl5//XUEAgFcO+vajM4DgPD+KHTwwQcf4K233sLdd9+NTZs24dVXX8XNN9+ckRyEo4RqOqFF28aSJUvw8iuv4oEf/xTjxk8EkAjzpNstytXJdO3Hjx/HokWL4PF4MGzYMCxYsAB33313vEMYxFwPBoNC34oqxYPBINavX4877rgDmuaCZVkYN24c/u3f/k2SPzmzMfDt27fj4YcfFnIbDQ0NuO2225LeI88XxhwhN7/fD9M08eCDDwrJE4r333fffSgtLU3LGKLFxLJtaH0w5J81/HFwnvwQkUFTFAXt7e2iMhYgz+7UjZ0cm0wYpDOfb5d3HonP5wiHQ3C73Whvb4fL5cIXvvAFzJkzRzS2D4fDggnUS6SNjHBiqIeJIiNHJlsVRWScJ8ZZV3VwbmHtunV44vEn8OeXXkIgEMANN9yA++67D0OGDHEkiruJ1ALAw4cP48knn8Q3v/lNVFdXY9CgQZg5cyYqKiowZ86c7h83vhN1Qjsa/uW730VHMCSaBtEOUS5o6gw0j2khX7FiBZYuXYpXXnlFdIL7zW9+g0ceeQSlpSXCOJIRZIyJTmgulwtLly6N62A5jYby8/OTdhRnGoMHD8ZPf/pTwed3uVzIzc0VvycHhXIuVAhGNO2amhqEw2GpkM1BVzUMHrcHPp8Puqb1KU+fkDX8cThiTC7BAyduvlOi7UmiB6oq69WbTYk2j8dzVhpTyGEeeuhN0xLUTCBRNZmXlwcgUQFNHdHONOT6C4pTU5ze2a8kJ1wBMoBOJN2yLOyp24PWtlYUFRWBgaGyshL19fXYv39/tw0/VX/L53H06FEcOHAA/fr1Q35+PmKxGPx+PzZv3pyR4WdMiWcZnDCVKgwYS9qdWZbVLbok9SA+cOCA0KxijGHEiBF4/fXX0djYiLKyfsKAUr6HrpN6ClRXVyMcDsPn8yMWS2g6pSZRzxS8Xi+qqqpEMZlssOmepFa205gR+8zn8yUl4ylRnO565J154rnpO+GeC5DOyaEqqmBsGIYhsndysogMBgmR0aSgicLjFC/whC58j88obnS7okDKRkxuDUiTmGKxsgeYCVLlLhSFievOzc0FSRpomgbDMBAKhYTh6a3WeVSQQ+N/Mg8y1bCTjAbnHJoqS/UmEpzO+50xOnr0iGCBaLomvMFjx44lVXXTf+lAxgVwFhcKkRQUFCRdy8GDBzMaD8s0YVom3B4PFIUS8DZcLndSzJoMWLoxSizmTs/d+vp6lJaWis5dPp8P0WgUhw4dErvdVFFAxpjj4cZrVuieu1yuJNmL0234U6U56NxkWQq5aI/miHwtdH0ARFEm7YioRWVisUiv5mlZFuz4cQ2jb9WKXHAev82dMnIqwlAVNYmbS5OCuMfRaBQHDx7Erl27UFtbG98SuqCocOicvXhuJ5OPIG/G4/GgsbER69evx+HDh1FSUiJ05IPBIAKBQI+SxLKRdXrCRoTMM+ccK1asQGNjIwYNGoSxY8cKwTCngCeniyN3DyR4VldXh/fffx8TJkzAqFGjMoqLk9dPHaTIEwOcDkqcJ3oAkHEjoTGv14uOeFgLODGE09VnktNA/6Y4ORkQp/dvZo+by+UG5xYsSYXT7XLDNA1xDRSuSOfxCwMVj9GTI9Pe3i6MYywWE93DgK6bvxO60mA6GziZVlXq8yALJHb2Nyer6E/8LiH+1pdwAXr8DgR3PU5PM+LJGkqwklf7ySefoKSkBDt37sSRI0ec2CC3Ydv8BE//dN58OR8Qi8XwzjvvYNmyZRgxYgTeeecdbNmyRcRgM9UuSQdKckciEezcuRMrV67EqFGj8M4772Dp0qWiUXZvhXoYY2hqasI777yD3/zmN9i8eXOvXYv8GURbLSsrE1RGt8uNo0eOIi8/P+Oeu7LRBxzp4NzcXCFU1tbWhra2NtF7t7vg3IZlWyK8E4tGETNMtLa2JlFwKSzRGeTaAs656ClMjVQikQhaWlpQVlaWFBfP4vzGBWf4ORGm49/cbjc0XYceD2sIzyqu3/HLX/4Sb7/9Nr73ve+hqKgIQJzBH3+fGpeg9Xq8p9Xb4ZwLb+2DDz7Aww8/jFmzZmHChAm46qqr8POf/xz79+8/wQj1FKqqicYv0WgUP/rRf+Gaa67BxIkTMWXKFDz55JNYs2aNKHjrDXDOUVpaim984xuiq1hvGSMmhfPAGBRVwcUXX4yamhps27YNjDH886N/YtasWRg5cmRG50zeN3mJAwcOxDXXXIO//e1viMVi2LdvH6qrqzF79uwMTzpO1bQscA4wRQFjHIFAQIQdAUcdVA7/JV93IgxCce1Zs2YhPz8fx48fh2VZ+Oc/neuWlUWzOL9xwYV6nJitE6Zh3DH8FLIg0Bad+NGp5d2qqkBhjha3Etf/drlPL62FROIMw8DBgwdh2zZycnJg2zYGDx6M+vp6EVemBepUwBhDMOiwej7++GPU1e1GeXk5VFVFXl4e8vLysHv3bkydOrXXYvxkPMmQUpvJ3jp+UhIOHGXl5bjlllvwl7/8BUePHMW6detw6623oqCgIKPj0jnTHPH7/fjiF7+IRx55BLm5uairq8NXv/rVjD1+CkfalgVV07Bh/Xrs3bsXx1uDGDT4IowfP17kddI136FzIlYa5xyDBw/G/PnzsXjxYlRWVqK2thbz5s2L7w4uOF/wgsQFZ/gTtZEKAMv5mUMkuii8IbNcKKFFzSxsboJzwLTMhOY8P3kzl1MBMRZUVUVdXR3y8/NRUFAgElJHjhzBoUOHMGbMmF7hUlNYgEI9pmkiPz9fGOJgMIhDhw71qPFLOjDGRFMP0lnvmbJmov41cT2Ih+eY+LfCFFx66TQoisPEmT9/PoYPHy7oj909Z8aSm4qQcb3jjjuwdetWXH755aitrU2bq2AnVO3K1wGomg5FVRAMhXHddbNhQxF9b09W9U2JTTL6tAO4/vrr8dZbb0HXdXz/+99Hfn7+WYvPn12k6h+deBfOR5znhj/VIDEoTBP9ay0LYNDw8cfr0dYWhKKoyMnJEQlFSszRYkCGac+ePTh0qCGeAI1i29ad8Hr9cBpNsOSwAk5O8epO5S71D9Y0TbRcpI5VpmmKDlhy0vJUYFmJFn/RqNNjNRKJiLABXR8VR+XlnfqOhxKRclEYGf908gRyAZdD02SwbQU24/FGLqXx5h3UHN4SOwtNdUNTgSuvmNH1iZ1kKKniW2bQAMCECRMwYcKEbl27QrFH6RX6cFVVwcEx57M30kh165hA54laYuLcdNNNSewpJ3zkXEMkEoHX60dV1QD01V1AKlNOnicObOeL2eDcSZIrTIOmuWCaNmzb0aXqbD0k59AwTKiKApdLg2Vx9BWp/vPc8J8I8uAdvr4Fr9eHl15ajGXL/gK3243hw4fD5/Nh7NixwpOTecChUAirVq3CihUrhMfl9XpFUjhT5oYcJkjlG8ug5By1+TMMAy0tLaLi1+/3o1+/fkIS+VS9N8c4Oiyb8vJylJQUo6mpCYMHDxaN3isqKkT/294AGXm61q4Su/ICINMpKeEci8WSinXIsNHi7ff7RUvOcxss5Xvvg+a43J2LDKZIfvdSuO1MQt75RiKRTlhaMl0VcfFFjnAkDLfL67ymdF6zwxiLa/qosEwbluXItfcVxdeTWinGWH8AfwRQBmeJfJpz/ihjrBDASwAGAtgL4Iuc85b439wH4OtwYinf4Zy/dVrOvgegm0+TYv78+fjqV78qJjoZh0gkAl3XRfyfvIa8vDzccccduOuuu8QDQg3OT9XL7sqAEmVPVVWMHTsW+fn52Lp1KyZPnoyVK1fiuuuuw7Bhw5LEuE4VpE100UUXYfr06di+fTsmTJiATz/9FBdddBGuueYaRKNR0XrwVEH3pqWlBTk5OYJj3dW1pHrZLpdLVJtyzkUBGtU20EIQDof7pDHrLchjSou3ZVmIxWJQVRWBQACGYcA0zV4N551J0DlHo1EcP368S9qraZrYtXsXXnzxZTQ1NeOR/7cAAEvqTifDtm20tLSIcTNNG15v92nHZxvdcU9NAN/jnK9jjAUArGWMvQ3gVgArOee/YIz9AMAPAPzH/8/eecdnWV7//309e2WSEBJ2ooIKCAo4EJxIESvWQR21VatYFYVq0ar9abV11xY6RPtVW/dqrVWsEgQVlVJUhmwQQUYCIQlJnj3v3x/JubgTQxgyErk/r9fzypP7uce517nOdcbnKKWOAi4GjgZKgPeUUkcYhtEuKhzEHSJpkWY3i7mBh+Tzm4uIpKJXfN+yn50F1nYH5hfKXDjWEpJhY7fb6d27N5dffjnz5s1j7ty5rFu3jhtuuEFX/u6L0nmbzY7DYeiG3D/60Y94/PHH6dKlC1999RXjxo2jsLBQu5qczn2jRGOxGBUVFaxevZrPPvuM0aNHU1JSstP1lVK62hp2cNKIT3vLli38/ve/p0ePHmQyGQYNGsS4ceM6fNe0bwt5zmWWmk6nCQaD/OY3v9E0JbW1tfTs2fNgi7rXkJljy5hda2OYvMvLli1ly5ZtTTOFnRekpdIpvc/GSt/GWUNHGR93qfgNw6gEKpu+B5VSK4CuwFjg1KbVngE+AG5rWv6yYRhxYJ1S6ktgKPDffS383sBcbOPxeJoVcshAIG4XYSMU37qZyMzc1xV2KJy9USYiTzKZ3KniD4VC2jILBAKMGTOGTp06sX79es477zy6d++u5d4bl1NLBIMNGEbzzKFLLrmEr776iksvvZTS0lKtXPeVNWi32wmFQmzcuJGbb75Zk2i1BrOP39x3Vdxlcp1GjRrF8uXLSSQSBAIB7Q6TgqZDFebn1FylXFBQQHZ2tibnGzRo0EGU8tvB3Ig9Ozu7SUG3XpRns9koKy1j5MiRPPvs802GoKPNBAO/349N2VAOe1Nh4P4+o32HPdIOSqlewCDgf0BR06CAYRiVSimpeukKzDNttqlpWbuAucxd/hc/sSgCUexiyYsFbR40xB0k28hMorVjtQWz71nKxVtDdna2LiyTQOKIESO0ghcFKbOVb4usrCzA0A08nE4nJ510EieddJLOYJEZyL6ynJVS5OfnM2rUKGDHLMwMuaYt8+fFupO4jMPhIDc3l1GjRjXbn1xfswV4KEKuozxLcr1uv/12vY65mczB4ODZF1CqkV4iKytLz2zk/ZDXs9GYk7RYH8lEuikOaDQ1wfkmHA6HbvbSEZ+h3b6bSqkA8E9gkmEYDW2t2sqyb2hApdR4pdRnSqnPdnSw2v9orTS75UPd8v/WtgGaWYzf5sUQK78tUihRcsIr4vf7myn4HQ1H9k0BlxxTKnPN2TOiLMyN1ffV8czWVVuxCvNymZGZ/fytXceWZf0d8YXdH9hZSmhLWoOOCDEMzMZba5BnKJlMYHcoTbu8s0dENfn/Myb3UUd6nHbrjiqlnDQq/RcMw3i9afFWpVRx0+/FQFXT8k1Ad9Pm3YCKlvs0DOOvhmEMNgxjcGFh4d7K36EhvkczO+bOYJ5x7M5nX6C9HG9n67ZMg7UUuYW9hQwOBQUFAJqQMJPpQP6bPcAuFb9qfJueAlYYhvF7009vAj9p+v4T4N+m5RcrpdxKqd7A4cD8fSfydwdm1xGwS7fJgVTCe3K8/XnMXa0nMw+h0u2I2ScW2geUUk38So2DQDwe1wV/3zXsjjN4GHA5sEQptahp2R3Ag8CrSqmfAhuAiwAMw1imlHoVWE5jRtAN7SWjp72hNY7wnQV390S57ht3TyOr/YFEa+e4q3ORAiTzjMmy/C3sKeS9i0ZjxOONxZKN2XuNFC3fNexOVs/H7Lx65IydbHMfcN+3kOuQgdlXvm3bNhoa2gqfWBAIQVk6naaurk4Hdw9GUxgLHRU7jBulbGzZWsnCBQvIy8vhnXfe4eSTh5tqVMyGkGrx6Xg45Cp32xtapoTuTjDzQKGRguJAHm/3z9HMoy4MoR05CNlRIb1rJV9eKqfbAyTF1zB2NFdqzsPUyNmlAKXs5OcV8tOrryGThoKCAtxuV5O1L/GjpnRuI4NhNFa225SjKU63I5usI6BjSHmIwHJR7D7MmSii9K3rd+AhFevRaFRXercXOBwOnXIsCvmbilkBjbNEny+LYwY0r1uQ5AtZVyk7yrBhszkwMub07tb23X5hmUgWLFjYK0gmldBiSA/f9gKhnxDqCaGk2BOYz0cI3mw2G9FoI/dPTU0N0NgOtT2d+67QcYYoCxYstDvIjOuhhx7C4/Fw1FFHce655x5ssQA0b1Xnzp3p27evngG0tf7O0LLgb+7cucyePZtevXpxwQUXfCvaloMBy+K3YMHCXkM4r6ZMmcI999zD9OnTD7ZIGna7nWg0SnFxMaeccgqxWGyvg/+i8CWO8cYbbzBjxgw+//xz7Q6SmU9HgKX4LViwsFeQzCqXy0VpaSmpVIoNGzYcZKl2QJg1JfAstR47g5mzyPxpuc9UKsXnn3+OUoq+ffvq9dpTfGNXsBT/QYQQvpmbjsjLZKFtyHUzs6xa1+7AQqpd4/E4w4YN0206w+EwkUiEaDTajItqT7AzJSzNj8z9GsR9I5z7ZgpuoWKQng0i8+5+ZH9ybKUUa9asYc2aNdjtdkaNGtXsPDsKLMV/ECEPpjxghYWF+6y5+Hcd4r+VHsAFBQX7rA+Bhd2D3W4nHA7j8XiYNGkSQ4YMIRKJcP7557NkyRI8Ho9uDNRWU53W0FaFeCKR0Mo2FAppA0oGh1gsppvLfNsPoPt0JBIJZs6cyYQJE7Db7YwePZrs7Gz8fj9VVVUdyuK3grsHES0zBnw+XwfoCNW+IFPs9pI7fqhBej7n5eVxyy23cP311/Ppp59y5ZVXMmnSJEpKSti6dSudOnVqokP4dsfKzc3luOOOIz8/X5MIRqNRvF5vU+vINGvXrmXt2rXEYrFvfX7Sba6wsJA5c+ZQXl7Ol19+Sbdu3XSD+kwmQ35+fgfp6NYIS/EfREgxieSgt9WIxcI3IUE1scgsi//AQnpaGIZBTk4Ow4cP5/nnn+fmm2/mq6++4sYbb9TP9Z6S6LV2H5VSujtY9+7dGTNmDL/97W+x2WysWrWKZ555hvfee4/Vq1djGMa3HmhgB+utw9HYq9vr9XLsscfy2GOP0b9/f50plEqlOlQBoaX4DzLMjV32ZVOTQwVmfn4ZNDtSPnVHhpCa5eTkEAwGCQQCDB06lGnTpjFz5kzKy8uprKxs1hN5d9GaEhW36JdffsmaNWt4+umn6datGxdffDG33nor//vf/0gkEvh8PnJycvbJLNBut5NIJHQgd/DgwYwePZp+/frpnttSy5CTk9Nh3l9L8R9ESNWfWKttNVu30DrE6pcmG9CxKig7MsQ9GQqFCAQCpNNpXC4Xxx13HEceeSTXX3+97hyXSCT26L60RV3yyiuvMG3aNNavX8+TTz5JdXU1CxcupLa2ln79+vHSSy+Rk5OzT56DdDqtZzVi+QcCAaLRqO7S53K5yMrKataYqb1DtYcRavDgwcann356sMU44JAOU5Ii9re//Y2VK1dqwrHi4mIdSBKX0KGIlpb8nDlz+M9//tNs+aRJkygqKgKwiNraKXY2E9sTHSQMthUVFdx111384x//IBaL6b7Qd911F4WFhTqNc1/KbQ4gt5dnzGazfW4YxuA93c5S/AcRYq0Kn0goFNLl5TIDyM7ObtYI/lCEkNeZB0nJ5hAXWV5eXrO+BhbaH/aV4nc4HMRiMd5//33OOeccbDYbBQUFvPPOO/Tr1494PG5i1fz2+CZtQ/vB3ip+a058kCH+/WQyidfrJRAIfMPXf6i7Llp223K73Tp7QizAfd3/18K+x75QmlKNq5RiyJAh+P1+YrEYF110EUceeSR2ux2Px9OChXPfQZ6v9jYA7CkOTd9BO4EUoUhKXGtFIDIj6EjFIfsaovjNlZiSKSJBXXGHWYr/u410Oo3b7cbhcOB2u+ncuTOpVIoRI0YAzakV9hc6utIHy+I/qDAXiJgDvZK94HQ6tZvjUFZo4s6R6yS+/WQyidPp1DGRQ/kadQTsTGHuyX3LZDI6kO90OsnNzdWuPvP7sj/SomWfzamaOyY6tvQdHPIAmXvHulwuHciVF0WU26EIGQwBPSuy2+04nc5m10rWtbDvITQJ5j7HyWSSzZs3s3z5cv0bfPMeiCsuk8no6t14PM62bdtYtmwZkUhE/yb3eVfNiGKxmM7k6tq1Kx6Ph+zsbF0Hs6vsuFQqpQuzRHbDMEgkEsRiMZ2Xb24uk0wmyWQyVFdXN6sUrqysJB6Ps2nTJiKRSLPf9rRa+UDCUvztBC2tHnlwO7pl8W3RsrOWuXTffM0s//7+g81mw+VyEYlEdO56JpPhk08+4bnnngMgFAqRTqeb8edIkoK5WU48HieVSrFs2TImTJjAV199pY8h+fI7c9PIoC88+/F4nHA4TDKZpKCgoJn7ry36BIfDoTmGXC4X27dvJxQKMXPmTJ599tmmJus2gsGgPqYUcEnQ+B//+AfTpk3j0ksv5YwzzuDcc8/lqquu4rnnntPnIYZKe3wuD22tYsGChV1ClKTb7W5GgBYKhSgpKUEphdfrJRqNAui4VSgUAtA8NxLLcrvdbN68mW7dulFWVqaTGyTfvy3OfFGikUiEZcuW8cknn+D1enE6nXzyySfMnTu32QDUEtItzG63k0qluPvuu3nnnXfIZDJ8+OGHOjgsVbpC+5DJZPQgcdVVV/HPf/6TdDrNwoULKSsr4+mnn2b27Nk8+eSTehCDRsqH9hifsxS/BQsW2oS4GcWKla5ToqwBamtrcbvdOt1SlLy4ZxwOh670VaqxP+0RRxyBz+cjmUzqLC3J2GkNmUxGk8JJ8ZQEe8eOHcvkyZNZsGAByWRypzw9mUyG//3vf9x3332kUilWrlxJbm4u0WiU2tpaSktLMQxDuxFdLpemdLbZbHi9XoqKijjuuONYv349hmGwcOFCwuEwXq+X888/X28r16w9ztrbn0QWLFhoV0ilUlqRplIpfD6ftpyDwSAbN27E5XLR0NDAm2++yQsvvMDrr7+O2+3WCjORSGAYBllZWRiGQTwep7q6mv/85z/YbDaWL1/OrFmzmDdvHpWVla3KYbPZdIVwLBYjGo2SSqVQStGrVy/uv/9+xo4dq9drDZlMhqVLl/L2228Ti8Xwer14PB6i0SgVFRX069dPu6jq6upwOp3E43EikQh2u53c3FyOPfZY5s+fz/HHH4/b7eb888/n7rvvxufzcdFFF+ljteaSbC+wsnosWLDQJqSQMBqNMnPmTP76179SX1/P+vXrOfnkkzniiCN46KGH6NmzJ+eddx7//Oc/+fDDD1m2bBnFxcWa9uCLL77gjjvuIBgMsn79enr27MngwYPp378/PXv2JBgMEolEePLJJ+nVq9c35JCAqdfrJZPJsHHjRm666SZuv/12srOz+eCDD3j77bfp0qULp5xyCp07d271fIRtMx6Ps3HjRj755BPmzJnD6tWrefrpp3G5XKxZs4a//OUvRKNRfD6fdh+l02lGjRrFp59+ys0330w4HObxxx+npKSE2bNn06VLFx3QltlPe0w6sBS/BQsW2oSZ597r9TJv3jwGDBhAPB7n5ptvxu/3s3jxYgYOHEhWVhajR4/miy++0M1xnE4nyWSSYDDI7NmzdeD1nnvuYdiwYXg8Hu644w6WL1/OnDlzOProo3WQV9xALf3+yWSSNWvWMG/ePC644AI6depEbm4u27ZtY8GCBQwePJjXX38dl8tFIpEgk8kwf/581q5dy5w5c5g/fz5jx46lurqaL774QlM8v/nmm2zYsIF4PM5VV13FMcccQzKZ1LMUp9OJz+dj7NixfPjhh7z88stEo1EmTZrE0qVLKS4u1imncv7tMSPPcvVYsGChTUi6YyAQ4IQTTmDu3Ln07t0bpRSTJ09m06ZNpFIpamtricViHHbYYYTDYQKBgHbz2Gw2Bg8ezMqVK5kyZQoFBQVMmzaNdevWccwxxzBgwACi0SgnnHACTqeT2tpaNm/eTCQS0W4ioeyQSu3Bgwdzww038Mgjj/DQQw/xzDPP8O9//5uTTz6Z1atX43Q6icViOBwOampqePfdd9m+fTtlZWX07t2bBx54gO9973uUl5czefJkysrK+Oijj1i0aBFvvvkmXbt2xel06jRRmWls2rSJ22+/nbKyMoYOHcry5cuZOHEitbW1jB8/nuXLl+vUUEkTbW+wFL8FCxbahLnOxOv18tRTT/HOO+9QUlLCbbfdRn5+PgUFBaxcuZJPPvmETCZDTk4OLpdLZ/jYbDbcbjf19fX88Y9/ZOvWrVx//fXYbDbKyspwOp3YbDbtKgF46aWX+PLLL/F4PDpI6nK5CIVC5OXlceaZZ6KUYsOGDSxatEhb7gUFBRQUFNDQ0IDH4yGdTlNUVMQtt9zCtddey1lnnYXf7+fUU09lyJAhXHfddfztb3+jc+fOxGIxcnJyOOGEE8jPz9fZQXIOdXV1TJ06lauuuopMJkNDQwOxWIxYLMa5555Lnz59uPTSS7nwwgtZsWJFsxqH9gTL1WPBgoVdwulWvaz/AAAgAElEQVR0kkgkWLx4Ma+99hpPPPEEH3/8MWeddRYbN25k+/btjBo1issuu4zNmzdjGAahUEinWgIEg0Guu+46evbsSVlZGX369CEcDvPpp5/icDjo1KmT9qfX1NTw0UcfcfTRR1NbW0teXh7hcJjPP/+c2bNn85///IdkMsm6desoLi6mR48efP/73+eII45g3bp19OrVS7cxlYyi3NxcQqEQRUVFdOnSBbvdzoABA/jFL35BLBbTOfsAVVVV5Obm6uLJRCJBOBzm6quvxufzMXnyZN566y1yc3MpKSnhq6++wuv1cvbZZ1NeXk4mk+EPf/gDzz777EG7Z23BUvwWLFhoExKorKys5O9//zvz5s0jGAzy0ksvUV9fr0nzqqqqePnllznuuON0VWxeXh6xWIyGhgYeeeQRfvOb31BcXMzUqVN54YUXWLt2LY899hjxeJyBAwdy66230r17d7Zu3crXX3/Npk2bCAQCOh/e6XRy+umnc9lll+FyuchkMvTq1YtQKITL5WLLli0sWbKEJ554gkgkotNNo9Eofr8fl8tF3759ueCCC7jkkku48MILicfjAHzyySds3ryZ8ePH07lzZ8LhsM73r6mp4Y477uCSSy5h5MiRfPDBBzQ0NBAMBnXfXYBu3brx9ttvk0wmNY+/OV21vcBS/BYsWGgT4ubo0qUL9957ry5kkqBrbm4uY8aM4cwzz2TIkCHce++9RCIR7eaw2Wzk5ORw/fXXk5ubq5X4kCFDuPzyyyksLMRut3PYYYdx6aWXcv/997N06VKqq6vZvn27njG4XC5OOOEEAG2BBwIBtm7dSpcuXYhEIkyfPp2ePXty9NFH4/V6CYVCunG6BHANw6CsrIx3332XefPmkUql8Hq91NfX06lTJ/r06cOYMWM0QaLb7aawsJBHHnlEp4lOmTKF008/nUAgoBl1pQYhHA7j8/mw2WxUVVVRWFh40O7dzmDx8Vs4JBCLxbDb7Tz11FN8/PHHdO3alQceeKBZMxwhemtJ/yDvSHv01e4KbbXz3N3zkX1IlorNZqOyspIlS5YwZMgQPB4PLpcLu91OOp0mGAyyYsUKjjnmGE0pLtZvLBYjHo+zYsUKevfujd/v17n5IlN1dTXBYBCfz0dWVpa2pneWIVNbW8uCBQvw+Xxs27aNsrIyTdHcGoR/591332XgwIH6/kPjIJefn4/f79eBZDkvuRaRSISqqiqKi4sxDIPy8nLuvfdefvKTn3DttdfqgUBIBffkWu8prEYsFiy0gfr6etLpNPfffz9Tp06la9euLF26FK/Xq9P1vF4vDQ0NuN1u3G63bhQuL397TMvbXZh7E8PeKSKz28LcA0E4bKSS1uVy4XA4NGcNoIOkUqkrSlEphdvt1u4kyaIRjh9ZDmhitpYQSgmhWDATHu7sHOQYHo+HSCSC1+vVv0tlsZnsTbZxu93YbDai0SgOh4NoNMqvfvUrpk2bxhlnnMGrr75KVlaWltd8zfcH9lbxW1k9Fg4JBAIBfD4fgwYNolevXmzfvp0XX3yRSCSiXQn19fVkZ2c3I/hyOByabKsjomUT+r1t4WnuZywkaZKxI8RlSilcLhdKKerq6rSFLoVMklPvcDiw2+3U1NRo5WxW8nIMSeN0Op1tMtSKAs9kMng8Hj0DEYvd/DEMA4fDoT/19fWaCdfMyGnu7iYDktfr1URzTqeTuro6PvvsM55++mn8fj+nnHKKXsfMVtoejOuWsBS/hUMCokTGjBnDxIkTCQQC3HLLLZx++unMnDlTk3OJZSqKwOwCkJe4I33gm9b93igi2YdY3TJDAvR1cjqdOBwOUqkU+fn5enDwer16uVjsiUSCrl27AmilLEVP5i5r8r95xtLyI79nMhlN5SAsoq19pOeFpKd6PB5gB/253W5vNgsRGYTO2TAMPvroI+655x7OO+88bDYbv/jFL7jhhhua9dgwy9fesEvFr5TyKKXmK6UWK6WWKaXuaVqer5SaqZRa0/Q3z7TN7UqpL5VSq5RSo/bnCViwsDtwu9266vJHP/oRN910E4lEguXLl/Pzn/+cq6++mvfeew/YocgkDfC7gm/r5hE3iVjEwuEjClu47J1OJ8FgUOfuA3pglViLMHEKG6fZH95SXpmlSD1Ba4pfZgripjMr3pafljM4KTBrOSDKsmAwqM97wYIFTJs2jSuuuEJX7R511FH87Gc/w+VyNRuIzHTU7Q279PGrxivkNwwjpJRyAh8DE4HzgVrDMB5USv0SyDMM4zal1FHAS8BQoAR4DzjCMIydcpNaPn4L+xtmy11ezLlz5/LGG2/w17/+lXg8TiaTobCwkKKiIoqLi+ncuTMFBQVaYbSX3sd7qrjl3N1uN3l5eXi9Xvx+PyUlJXTv3p0+ffroAKe4dGQbh8OhWTilYYpQMNTX17NixQoqKyvZsmWLpliorq7WrhvZr7mJi1mulu4bUZjmbWR5W310ZTuzi6at6yH++5ZWvZlbRwK5X3/9NbW1tWzcuJGamhp9DU4++WR++ctfcvzxx+PxeHbKyyOy7Q/st2brRuOZhJr+dTZ9DGAscGrT8meAD4Dbmpa/bBhGHFinlPqSxkHgv3sqnAUL+wpmhSHfhw4dSmlpKYMGDWL69OnMmTOHbdu2UV9fz5IlS7Db7fh8Pq0E2+KJP5DYW4tdaIWlSlb84YMHD2bUqFGMGDFCE5tJnEPohsPhMG63m1gsxqxZs/joo4+YN28eVVVV1NXVEY1Gd9l5ak/kPtB+8ZaDjPyVwcDhcBAMBvF4PBx77LHcdNNN9O/fn/79+5NOp/WMY2f7bm/YrawepZQd+Bw4DPhLk2VfZxhGrmmd7YZh5Cml/gzMMwzj+ablTwHvGIbxjxb7HA+MB+jRo8dx69ev31fnZMHCHiESiWiembfeekszS1ZXV1NfX6/Xay9T9j3xGUubSoG4LPx+v86Dl+yUbt268fDDD3P++eezefNmfD6f5tj3er2Ul5fz+OOP8+GHH2qa5mQyqV0s4gPfF3IfjGstMzvJNHK73fh8PpRSdOnShWuuuYbjjz+eLl26UFRU1CzrS1xaB3rAOiDpnEqpXOBfwI3AxztR/H8B/ttC8f/HMIx/7my/lqvHwsGABOykgMecwZFIJIhGo8RiMR18bI+W2+7A7NuXHPZoNEpdXR1bt27l7bff5oMPPmDTpk1kMhk6d+7MpEmTuPTSS/F6vcyYMYOpU6eyePFi7HY7nTp14rTTTmPIkCH06dOHgoICcnJytK+/o8LsipLMI6UUfr9fB/7lOZD4j2wjs50DnfK731w9ZhiGUaeU+gD4HrBVKVVsGEalUqoYqGpabRPQ3bRZN6BiTwWzYGF/Q15gsYgl8CfT9uzsbLKzs7XCbC8+/j2FDGjyXSxvu91OQ0MDZ5xxBps2beL111/n/vvvZ+vWrTz00EPU1tZy4YUXMmHCBN1W8bTTTmPKlClkZWWRlZWl89qBb/jlOzokgC2WvaSntryegA7sdhTsTnC3EEg2KX0vUA48BJwC1JiCu/mGYdyqlDoaeJEdwd1ZwOFWcNdCe0PLoKM5l1xa7skMoK3A4oHG3igY8fGbrVrJW5fAplKKzZs38+abbzJ58mR9vk6nk8GDB/PEE09QWlraLChrzrQRtBWA3V0c6MHD7OZpuVyoG2BH7MPcR9e8zYGWe38WcBUD7yulvgA+BWYahjEdeBAYqZRaA4xs+h/DMJYBrwLLgXeBG9pS+hYsHCyYC21ay1OXGYEsby+IxWK62lgUUzQa1Rzw0rzcrMxaNiAXxSVtDKWQqqioiCuuuIKTTjpJW7ZHHHEEd999N2VlZXq/rV03sYZlubjIzMeUqljpnyvnI8pVXGsHGpJ22TLnX+67me/HnKrZ8tNRsDtZPV8Ag1pZXgOcsZNt7gPu+9bSWbBwELC/+VW+LYS6WGgDIpEIgUCAUChEPB7Xjcizs7Ob8eHDDlePYRi6raDL5SISiWjlnUqlmDRpEmvWrKGiooIf/vCHnHDCCRiGgcfjIRgM4nA4NO2yzBi2bNlCt27diMVi2icuClOWbd68WVMim/3jEnT2+XxEo9F2R4/R8llor8/G7qL9mDEWLFjYLaTTaUKhELW1tUAjHYUo7ry8PF1VKzMWSUk00yxILr4wZfp8Pl256vf7OfLII+ncuTM2m40zzzyzma9bGCqFgTIWi5FIJCgpKdE5//JXKaVnFMlkkuLiYsLhMLFYDJ/PRyqV4vXXX9e5/+Jms7B/YSl+CxY6GKLRKOvXr2fy5MnU1NRovqFYLEZFRYV2VUkGj0B88/KbNBqRWYNhGGzYsIGHH34Yr9fL0KFDCQQC9O7dW9MaiKsnEolo15EQotXV1VFVVUVVVZU+rrlwzuFwkE6nNe2BzWZj6dKl3Hvvvaxfv17PVizsf1iK34KFDgafz0d9fT3hcJi8vDxCoRDnn38+d955Jz/84Q+ZO3euZpMUiLK32+3U1tbyf//3f0ycOJELL7yQESNGUF5ejmEYTJgwgTlz5pCdnU3v3r3p06eP7jUr7JRi+a9YsYIbbriBDz/8kJqaGl5//XXGjRvHtm3bAPQswePxEA6HicfjmsfHMBrpjCdOnMjjjz/Oiy++yOTJk78ht4X9A0vxW7DQASEUyE6nE8MwqK2t5bTTTuPII49k0KBBuqDInIIq/vTt27cze/Zs7HY7l156KVu3bmXbtm0sWrSIWCzGXXfdhcvl4ogjjqBXr17NctdFKVdWVnLvvfdSV1dHUVERa9as4YUXXmDixImUlZVpigths2ysGHboYjGlFNOmTePyyy9n1apVrFq1inHjxlFdXd2s4MzC/kHHTEy2YOEQgGSPiF8eGgnFhAZZUk8rKipwuVwUFhaSSCS49957mTBhAiUlJTrwKumo0WiUwsJCevTowfr167Hb7QwaNIgf/OAH1NfX85e//Im8vDxcLgdlZb0599xzyGRSZDI27HaFYaRRykGvXj2YNGkieXn59OvXj+HDhzN8+HAuvPBCPTuIx+M6z18pmj6KTCbFrFnv07NnT8aOHcuJJ57IHXfcSU3Ndj7/fBEjR47E5bJcPvsTViMWCxbaOeLxOIbR2Lz8448/5o033uCzzz5j06ZNPPbYYySTSYqKihg2bBgrVqxgy5YtjBgxguzsbJ1CKe+5FKjV1dVxxx13MHv2bE477TR69+7N+PHjWbNmFePHj2fy5MmMGzeOaDRKXl4e8Xgch8NBOBzWAeNt26p55ZVXmTt3LrNmzcLr9XL55Zdz3333adpjiSnY7Yp4PEYqlWTq1Km89dbbPPPMc/zpT39ixoxy+vcfQKdOBTw+7THi8QRen4dGSjALbeGAVO5asGDhwMHcjlBojRctWsQbb7yBYRj069ePs846C6/XSyqVory8nNmzZ3PNNdforB7Zjyj8ZcuW8e9//5uVK1eybt06XC4XWVlZOpD7wgsvkJ/fiXPPPZd0Ok1OTg4NDQ14vV7i8bhufP7RRx/xs59dR1XVNpLJJBdccAE//vGPOf744zVPP6Bz9m22Rj6fBQs/p6a2lkcffZSbb76Z+fPnU19fT05OLtdffwMffzyXwYOPPSjX+1CC5eO3YKGdQoqgzG0Mr7nmGhYtWsTPf/5z1q1bR01NDc8//zyjR49m3bp1LFiwQPPLy4AhqZsNDQ3MmzePgQMH4nQ6Oe200xg+fDhff/01AwYMIB6PM3ToUKZNe4ynnnqKbdu2kUgk9CAixV6GYXDccccxc+ZM/v73v1NcXEwgEOCdd97h7rvvZsKECTzwwANEIhFNiSFuqX5H9+Puu+5i6dKlnHrqqZx99tnk5ORQUFDA7Fmz+fLLtTw27fGDfem/87AsfgsW2inEPy9drAzDwO12M2XKFKZNm8bw4cPp1q0b+fn5LF26lGAwSFFREQMGDNAsmdu2baOgoEAzbP7kJz+hrq6O2bNns3DhQhKJBL/85S/xeDzYbDbOP/98zdszePBgunfvrmcOPp+PhoYGlixZwrPPPkswGGLevP+RTCZ5/fXXKSgoIJFI6L4G48ePx+12E41Gycryk0olcTgduFxuxo4dyx/+MJXy8nLC4TA1NTWceOKJ/O53j3LEEYcfzMt+SMCy+C1YaKeQBiFKKcLhMOFwmBUrVnD77bcTCoXo2bMnsViMCy+8kHfffZft27fjdrupr6/H5/OxdetWSkpKAPD7/XpfLpeLIUOGMGPGDBYvXsz06dNZsmSJTtV84YUXOeecczjxxBOb8ewHg0GdsplMJunVqxepVIozzjiDiooK5s2bx7Jly1ixYgWzZ88mJyeHSCRCVlYW27dvRymFz+sjmUjyxhtv8Oqrr3LppZeSk5PDbbfdxpgxo3njjTf44x+nHuQr/92HFdxthzCTXkmhCzRO/ROJBE6nk4aGBlwul7YEhStEMjisQpiOD0mjTKfTZDIZli1bxr333suIESMIBAJ8/vnnXHHFFcyePZvy8nKGDx/OuHHjeOSRR1BK8eMf/5jS0lK6d+9OOBzGbrczffp0nnrqKWw2G0OGDGHDhg1ceeWVeL1ejj32WO6//7ds2LCBadOm6Zz6rKws3VNXAs3JZJJnn32OeDzB+PHj2bZtG9OmTcPpdHLddddRUFCgU0kbu3jFMYwMdoeNYEOQ//73fwwbNpxkMskJJ5zAiy++hFJ2/u+v/8fYsedy9pjRtIfgrvk9lPcsHo/jcrl003VzxlR2dvYBlW9/krRZOIAQX6hweycSCaqqqnRQr66uTndSkjJ4qdCUghlL6X83IEVXwqFz+OGHc/PNN3P55ZfTp08f+vbty9SpU/n666955JFHuOOOO+jbty8XXHABmzdv5g9/+ANPPfUUs2fPJisrC4/Hg9fr5bLLLuN3v/sdmUyGAQMGcMopp9C3b1+CwSBer5cJEybgdru1f15aDQpNscvlYu3atQSDQa655hqUUhQXF3PssceyevVqtm3bpnmEpPWiEMhVVFRQWVnJ/PnzNefQ8OHDyWQMSktLqaraxuefLzjYl15D4hpScRyJRHC5XCxevJgPP/yQ2tpaDMPQQfKOAsvib6eQ3G2lFB988AETJ05k69at3HTTTdx22216PbE25MWE5rMEC98NGIahqQ6SySSBQIDt27eTn5+v2yPKzMDhcOgm6GY6aWHANPfP9Xg8JBIJvY3L5dD/i29fqBaEdkECzel0BsNo7GDm8Xi0G0kGB7GSGw2RDNFYFK/HTTyRIJM2UMqut5HismgkjsfjxumSDq8HF4lEQl8vserXrl3L6NGjqa6u5ve//z0//elPqa+vp1OnTt8pWmYLBxgypbTb7aTTaY488kiGDRtGJBJhypQp/Otf/9JuHZfLpafUHZEe1sLOIUrePLiLH3779u1kZWWhlMLr9epWiG63m3g8rlsGigEhyjiRSJBKpTRjZyqV0la91+vVVbUul0sXYonFD401BYlEQjent9vtZGdnY7PZNFGcx+P5RnP0VCqFPJUyY5Uag8YBRJFJg8/nbbN944GGuHKCwSCZTIYvv/ySBx98kKqqKgKBAGeddZa+L+Y2ne0dluJvZxDedJnmZzIZunTpws9//nM8Hg+RSIQrrriCUaNG8eGHH+qXS3zBYhVa6PhQSmnytXA4rO9tVlYW+fn5Tb7zJPX19driFmMgnU7jdrv14ODxeIhGozrIKy4LUf6ZTIZ4PK67aon7wuPx6O5Twk8fCAQIBAL4fL5mrkbJHpLn10y9LLOFuvo60unG/Xk8nqaBDMDA7XaSToPX6zvYl74Z5P2aPHkyI0eO5LXXXkMpxdixYykqKiKVSpGdnU1eXt7BFnW3Ybl62jFaum5Wr17NP//5T6ZMmUJ1dTUOh4OSkhIKCgo47bTTOOmkkzj66KPp3Lkzfr+/GeeJuUGGeVlrXYcsNMLsMtvZdTJfw1Qqhd1u141QxP0m+5GCLJvN1iwgL7z15vRN8Y+bjyPVs+auYeZ1hAlTBgD5a244IwaFMHiKbOZnremIzeRs/A3TOgZK2ZodQ6z8ncWYDKN53+J0eodsO46rMDIGNvu3fybbeq7lXoiscg7xeJy6ujoWL17MwoULWbx4McuXL6eqqootW7bg9/sZPHgwf/zjHyktLdXFaubrcCBxQJqt7y9Yin/XEGbFUCjE+++/z9tvv81bb71FZWUlbrebnJwcnfFz/PHHU1paSu/evSksLKSgoIBu3brRuXNn3TjDcgntHC0zOcRaFV+3KHizHxzQQXlADwQyAAhpmnm/ZqUs3Pgej0fTHJgtZxlEzMfLZDJEIhH9bHTUnsD7Czt7viVgW1dXR319PevXr6empobKykoWLFjAl19+ydatW3VXM3GXnXLKKZx33nmcddZZlJWVAXzjXTrQ+tRS/N9xyMstWT/Sum7JkiWsW7eO6dOns3TpUioqKrSf1qyEzA3FBZbibx1mS9/s4pAKVpfLhdvtxu/3a9eIDLQ9evTgxBNPpGvXrrooCtC58DIgyD7Fwhef+9atW1m7di2ffvopFRUVbNq0ic2bNxOPxwmFQkQiEc1bn06nCYfDOqBr7gNrYecQllHzPRG3lLCP9uzZk169elFaWsrIkSPp27cv3bt317ET84wNsBT/3sBS/LtGyyl5JpMhGo3icrlQSlFTU0M4HKaiooJPPvmETZs2sXbtWmpqaqirq6OyslIrMdmf5eppHWYXh/jRRdnKSy/WvVh8TqcTr9eL3W6nuLiYfv36cckllzBo0CAKCgq031wyZsTPLhb9ypUr+eCDD3j55ZeprKykvr5eW5stXUSwo8m5zETE1WBhB1p7rkXJSxMZv99PUVERgUCAkpISjj76aA4//HAGDRpEYWEhHo+HQCDQLEOqpUunpfv0QMJS/N9xSA61BN3kYROlJIpFyvoBQqGQVhzbt2+noaGhWZqo2VdsYQekUE4yZuLxOPX19dTV1ZFKpaipqdGdpjZs2MDXX3/N+vXriUQiADrzxm63M3DgQC688ELGjx+vrXLpVpWXl8f69ev50Y9+pOkTzPEAm81GTk4OAwcOpKSkhF69euH3+xkwYIC+j/n5+TqYa/HYN8fODJpUKoXD4SA7O5usrCw6der0jWtndulJ0ZbT6dzlNbYU/x7AUvy7BzNbI6AVhDlv2263E41G9UNqtk4lgGieNZj3Z6ERMhjubDovgVP5nk6niUQiRCIRgsEg8+fPZ+HChbzyyitUVlailKKgoIAhQ4bw5JNP4vf7mT59OnfccQe1tbVEo1Hcbjf9+vXj4osv5phjjqG0tBSPx4Pf79cdsOTetQwgmmWxsGuYDR6zu8d8n2WGZ7fbicfjzVJc2yqStBT/HsBS/N8ezbMvvvvuGznHRCKhBztJaZTfZWCUWVJrkDRYc0BV/Ofi6hG2y9aCp0JrIMFVmZml02nWrl3LCy+8wL/+9S++/vpr0uk0l19+OVlZWfzjH/9g27ZtuFwuLrroIi677DIGDBiAz+fT/W3NA7wcA9C593J+Qqcgikwgbok9qeQ28wMBOgZxqDVAb/k+Qfs0kCzFb+GQgihYs3IHNAulKLCWKY8tYXZ1yV+x9hwOh24b2NZ7In57oSaQoK5Yk+FwmLfffps///nPzJ8/X1fLPvDAA4wePZrDDjtMF1gJDwzQrDBPYB6kWgbqU6nUNypNDcPYIxeQmetJBhWprLXQ/mA1YrFwSEECqkIDnE6n8fl8OitDsmYkiLcr5S+Dh8PR2DBE3Grm2MnOLD5xE4irLZ1Oa/eAx+PB4/Fw7rnn4nK5uPTSS0mlUpx88smMHz9ezyTM9AgSCxAqBvP5iII3b2POzRc3kPim99RKNdMtiKtDZlMWvjuwKnctdEjEYjHi8TjQqJzNOe+SqicWa1uQ30XxJ5NJQqEQdXV1moKgrYwZc6ZHKBTSMwiv10skEtGxF7/fz+mnn66Jz77//e83c6vYbDZisRhOp5NoNIrdbtfpo6LYgWbKXGILQsMQDAYBCAaDzdY3Z3Dt6uN0OvXMQc7Zqg/47sFS/BY6JCR4LYVPLpeLYDColWh1dTXvvvsuwWCwzWrKlgo1GAxy5513smrVKs0eaU6D3RkkQFtZWamt5Pz8fD0oKaXw+Xz07t2bTp06UVRUhNPpxG63E4vFyGQyeDwePQC9++67LF++XFv3MpMwK2nZxuVyEYvF8Hq9msJhzpw5fPzxx3uk9CXdVAaaaDSqq4UtfLdgKX4LHRLi5/b5fMTjcTZs2MCjjz7KsmXLqKmp4bXXXuO2225j7ty5hCMRoDXFbdCSATIWi1FTU8Obb77J008/TTgcBiCTad3HLQOG3+9nwYIFXHfddWzcuLEZ1YOkWzocDg477DDsdju5ubnaPVRRUcF9993HrFmzSCQSvPjii0yePJmvvvqK7du3NztOY6EXKGXgcNgwjAwVFZuZPn06f/nLX7jooos45ZRT+OEPf8iMGTP2+LpKIVl5eTlz5swhHA5bhWHfQVhDuYV2D6WaB1/F355MxptYK+08+ugjxONxPC4HD93/W8aefz52u5OXXnmNowYMpKfXTyadxuWwE4uEsTsUNntjYFjZDLZs2cKzzz7Lk08+TSgUYvTo0YANr8dPKmWglEE8HsPhsOsAq2TbQONAtGnTBpYu/YJ169by8ssvMW/e/7j22ms588wztUXdv39/QqEQpaWlOjD9/PPPs2DBAr73ve9x5513MmLECDp37sy0adPo0aMHubm52mffOPvIEImGsSkbdoeDVDrOc8//nV49e1NRsZkBAwbw4IMP0tAQomZ7LYGsAA6HHaMp2GxXO7KBFi1axH/ems7mzZtZt349X2/cRCQSIRQK0b17dx544AHOOeecZinBZvrnxvuzIw2ytXRTQWtV4+bZRku3miyTYLPk0pufAdmP1LLIvTFnQZmPY15mdpmZs7hkkDZXbZub4sj9NgfBpaWfs4UAABbWSURBVChM7pP5GOb0adnOnBYqszpx/clv5kLClunF5pTivYFl8VvokBBaYGjkg1+9ejWnn346f//73zAMg88//1yzUf7xj39i9ZrVKKWortmGx+slk0qjoCn4a1BYWMDIkSMZNWoU2dnZlJeXs2zZMhwOO3Zbo7KQbBnzy6iUIhaLEYvF2Lx5M+FwmCuvvJKpU6fSv39/8vPzm61/1FFHMWzYMIqKinSqZHl5OaNGjWLGjBlkMhnWrVvHypUryc7O5vnnn2f58uWaebWhoZ5orDHYGk/EcdgdFHcp5plnntFZQscccwwNDQ3cfPPNrFu3DqfDiQGkmoLOmsEzlWL1qlXMLC8nnUoRDDbQs0dPbrzxRj7++GOefvpphg8frhuRmDOowuFws0JAMzWFxFgEkoEFO5SseR25puaBXZSe+T5D8xRXWdesFM1UGy3pMlqL14i8Etg3w5wcYI7FtKzUlViTZHaFw2HtvstkMsRisWYxE9leZq0ymMg5SAMmoeSWJkuJRGKfzb4si99Ch4QESevq6li4cCHnnHMORx99NB6Xk9mzZjF9+nRKSkr42c+u4+577uHf/36LW34+Cbu9MfMlmUpic9hwNFlc4XCEl156iTlz5hCJRBg6dCjjxl3Mn/70WCPlgsdFaWlPjjyyj+a1z2Qy+Hw+3ZLQ7XZjs9kYP348l132I/LzOzVjn3S7G5uMjxw5kpycHBoaGtiwYQNHHXUUJ5xwAkuWLKGyspLy8nJKS0v51a9+xdSpU3n99dcpKytrChIHcDgMjIzR2L821RjUXrlyJbNnvc+f/vQn7rzzVzz22GM8/PDDHHbYYYQiIewOO067A5/XR6yJy0nZbIwaNYrTTzmVaDzOL35xC4/87g8cdvhhGIbRrN+uZPgYhkEsFiMYDJKXl/cN695spYpVKopO0m+hufVvtpLNMwY5ls/n0/tqmVNv7lUgitXMw9OSWkFqMgSSBGBW6DIrEKUuA4PP59O9CISzRwLs0hdDiPNkZpJMJolEIiSTSdxuN3l5eZorSGSNxWJ6cHQ4HLpNpmRuyYzCTBMisu/1+7PXW1qwcBChlCISibB582b+/ve/8+CDD5Kbm8uA/v35dP58amtqcXv8PP3004wcOZJrx18NGOTkZBOPxfAHAiQScVLpNB/P+ZD/zp3H+vXr9fS+tLSMGTNmcM3V44nHY8yb9z82blxHaWkvbZW53W790oZCIRYuXMSwYSfj8/l47bXXmDnzPRoaGnC73YwfP57TTz+d3NxccnJyiMVi1NfXM2XKFCZOnEi/fv3o16+fjlGkUimeeeYZ+vfvzw9+8AOcTif19fUYRoZAlhev19NIyZFKsXDhQl599TUm3HAjPXr05LnnnucXv/gFRxxxOLW1tWyt2sqgYwc1Wp9NBWcej4dMJoPb7cbtcvOHe+4hGAwyY8a73Hf/50QiEaqqqnC5XPzmN7+he/fuBAIBsrKydNtPcaeINWq323U8QwYOh8OhGUflvkm6q7hGJGVV6EWkd4AExmX/wptkGIZu9iIDQSKR0DM8Se2Va292j1RXV9OlSxfgm0o/GAzqtFXpKxCLxcjKyiIUCuH3+3E4HNTX15Odnd2sYE4GJbm2wsjqdrvxer2Ew2FtGAC6d7EMqhJYl4SFvLw8TcwXjUbJy8vTswPzNnsLy9VjoUNCWgjOnj2bd955l0ceeQSPx4PDbqNHjx5srtjMpEmTuPXWW6mtreWll18lmUyhlA2ny0kqkWTJkiVcfPEPee+996iuruZXv/oVPXv2pKysjHg8RigUYtiwkxgxYgQ33/xzrrvuetxuN06nU/tk5cWvqqpi27Yq3nrrLV577TW++OILnnjiCe655x7S6TT33XcfixYtwu126wKtN998k7feeotHHnmE7du3Y7fbOf3006murub6669n4sSJZDIZ5s6dqxWm3+8nHA5jGAZZ2VnYbDYGHjOQ8eOvYenSpSxatIgNGzZwzTXXcOqppzJhwgTGjRvHrNmzUDYbTkdjY5doNMqmTZsoLy/njttv58knn2Lr1q1kBbL47LPPuPLKK5k8eTIul4spU6awbNkyIpGILlKTfg/SS1esZWkaE4/HtXIXJSqurXA4TDgc1m4UsYqli1g6ndYpqaJco9Goprk2uzvkd+mHKxa0dAqTrC+xsM31GObZjNPp1O60ZDKpBxypijb73p1OZ7OZTEv3j1j0ZndYNBrFZrPpayOK226364I/cTdJvEBciOI2kgFQzkfOaW+w2xa/UsoOfAZsNgzjHKVUPvAK0AtYD4wzDGN707q3Az8F0sBNhmHseXqBBQttwOVysWHDBgzD4MYbJxAIBAiFQnw850MqKyvxeDzcc889jDr7bM6/4EIGDRqITUEqlcTVNIU+5phjeOGFF/H5fXz44RweffRRtmzZQjKZpEePnpSVHc78+Z/Sp88R5OTmoFSGVMrQ1bXSrjCdTtOrVy8efvhhfv/731NQUEAsFqdTpwKKioo4++yzmTVrFv369dPKpr6+nlgsxt13360HhPfff5958+bhdru57777WLhwIeeeey6nnHKKTl8VF1dVVRUvv/wyK1asbLIyvSTiSTZu3MS1117L8ccfTzyexJ/lY2vVVjKZDNu311JU0JmCggIMw+DXv/41oWCI3z30EAp4t3wG/oCfE088keHDh9PQ0MCQIUPYvHkzvXr10j5rt9tNOBzW9QaJRIL8/HytlGQWEAgENKGguUuc8N4EAgEd7BQ3jLm5vARrpaLZ5/MRjUa1sjeTEwYCAT0gCeup+biivKXIrSW9iVmhi5KXym2xzls21xErHXYQvyml9ExQZglSAGdutiMup+zsbD1wSt2G9NaQgV7cSlLxLQPEgbL4JwIrTP//EphlGMbhwKym/1FKHQVcDBwNfA94rGnQsGBhn6KkpIQrrriCbt26aWXct29fsrNz6N+vH2vWrGH5suV06pSHz+vG43E3WYwZnG5XY2tBb+ML2b9ffy688ELtDigvn0FWVhZPPvkUW7ZUkUqlSSR29J6tra3VLouKigpeeuklXnrpJa699lqOO+44RowYwYwZM3A4HASDQR3oFUutoKCAK664grKyMnJzc8lkMhx33HG43W4OO+wwqqqqWLVqFTk5OVrxAZqVMxKJ0L17d66++mpuvfVWHnjgAf7f//t/nHbaaYwYMYJTTz2V4cOHc+SRR3LmmWdy1FFHEQhkab95NBrlqKOOwuGw07VbN7p27UqfPn3Iy2sMRotbIxQKMWDAADp16qTdO6lUSitDsz9clLZYpkJcFwqFaGhoaBYrAL4R9IQdfmuZHZgtd/G1y/+SaivuH5HNHFtorXpZZgQy42hZFCf7MA9WorRlHVH45uMahqH7JZhnFuYMI4/H06x3giQHSK2H7NucLaaU0kHuvanGbg27ZfErpboBY4D7gJubFo8FTm36/gzwAXBb0/KXDcOIA+uUUl8CQ4H/fmtpLVhoglhMgUBA0xgkEgnKy8tRStGlSxeGHn88w4YN47e/vZ9bbrmF3j17kJ+XA5k06WSSuoa6RmrjTp2or69n2rTHgcbsnTFjziE7O1v7WdPpFA6Haubrramp4ZprrqGiooJkMonf76e0tJS77roLp9NFly7FbNq0idWrV3PJJZdoS1eURiAQYOvWrcRiMdxuN8899xyVlZUMHjyY1atXM3LkSF555RXy8vIoLi4GdgQcu3fvTllZGelUhu1128nNycGm7NTV1WmF6XI5CIZTuD1uiouL8bjcxKJRYrEYHo+H7t27s2zpUurq6ujatSsbvt5ARUVF0/mmCYVCrFmzht69e2s6DDP/jygzM0e9uExksJIUSfNAIZQQ0pDGnBrpcrm0+0N+MzeZF4sb0Na7WL+SdSSBUVGyZqteiuTMKZOiSIWQT87F5XJpeWTGIOsJDbZcBzm+9GSw2+34/X59z+VcoDndSDgcJhgM6pmcnLf8b66klgQBcze3vcXuunqmALcCWaZlRYZhVDY9jJVKqc5Ny7sC80zrbWpaZsHCPoM5E8TpdNKrVy9SqRSFhYXUbd/OXXfdxcWXXM6YMWcz4tRT+N3vfofP4+bOO35Jac+eOFzOxlRLBQ3BBjZXbOaKK37Cqaeezq9//WtOOukkNmzYSEVlBYsXL6bvkUfgdnvx+/3aWiwsLOTJJ5/E6XSSm5urlXJj4NQgnc7wxhtvsHHjRkaMGIHH49FKV3zHRUVFdO7cmWQySc+ePVm5ciU/+clP+PjjjznppJMoKCjg17/+NU6nkxtvvJGBA48hO8evLWJQFHQq0K4Jm82m4xDhcCM9t9vlxma3kUqn8Lg9eN0eIpEIo0aNYskXX/DWW28x95NPSGcyPPTQg2yvq+Ojjz4iHo+zdOnSpoFsBxe93W6nsLBQDwLZ2dnaNy0uEQnYut1uXV1sVpwtuZNkUJF9mJvES8aMHFtcMjJgyD7z8vL0ceQY5rRbgOzs7FYziyTFVc5RBoqcnBz9XfYjxXei1PPy8vT+5bzluQS0/BJgttvtZGdnAzTr7Cb/twwamwc+s+zfxvLfpeJXSp0DVBmG8blS6tTd2OfOSiRb7nc8MB6gR48eu7FbCxZ2wPzS5ufn64DgkiVL+PHllxOLxQgEAgwY0B+b3cbxQ4eQTqXwelwYGJCBeCKBzW5jwoQJvDdzNscdN5gf/OACunTpgmFkOPfc7/PnPz/GuzPe5fwLzsNm85NOJzWRWyQSwev1kp2drf2/TqeThQsXsmXLFr7+eiPPPvssOTk5FBQUaIoFsXwbGhpwOBz07NmTSCTCe++9x5VXXqndQ1lZWZSVlenBpdGybgyUul0uHHY7dfX1xFVcxzgSiQS1tbVaHn/AR4YMKHDanSjAaJKjtraWU087jUvGXUzvXj0ZOHAgymZn9Zo1XHXVVVrB9u7d+xtuDsnegR356HJfJMXV7Aoyk8qZlZo5RVP85uY2oy2tebPyk1iCKEGxhM0DgnnfckyRwVwkZS4iMz9jZhlbunzM+wC0u0bOW5bLtZAAtwzQMtOT2YO4nsyNlsyFXjIgtGwUvzfYJS2zUuoB4HIgBXiAbOB1YAhwapO1Xwx8YBhGn6bALoZhPNC0/Qzg14Zh7NTVY9EyW2gLrVXuioUoAUextG1KsWrVKqZO/SNH9D2S8eOvxelykUlnsDvspJMJvF4PRiaNYWTIGBm++mod4XCEkpISpk17grfffps777yTMWPOIR5r9FVnZWfj8ThRakcfAJmGm6tKxc+7Zs2XvP/+B1RXVzNu3DgGDRrUjBtflIyZz18pxdq1a3n++ecB+NWvfqWVnbgvkskkbo+dZDKBw+4kmUridLpQykYinuDRR3/P0Uf3Y8yYMY155UYGbIpMpqmiNZnErpoXW1Vv20ZBpwJcbjfJVKNSWbNmDZ9++impVIqf/vSnOqAoPnApZgN0gNes3EVus1umpa6R7Vur9BUlJ+4Xs5tE9m+uspV9S4qoed2WOf+yb6GnMMtrfs7k+C0HnNafUdUsS8ispKXGwJxWat7OvI7ESMwzGnOFsFwv0wxh//PxN1n8v2jK6nkEqDEM40Gl1C+BfMMwblVKHQ28SKNfv4TGwO/hhmHstORs8ODBxmeffbansls4ZGFgfmwbFUwGUCggnclQX1+Py+XC7w/obZqvb6AabX+Usul9hkIhtm7dit/v/0ZLPqXAMMx/d0z/d5TQGyi1o+pU3B5mX/M3zqaFy0GyUrKyspqtI8ez2WR9Oa6tUfEnEsycOZPs7GxOOumkHcVUtsbzU4i8jduaj6vkBNlhZZrz6uW6mWVpeQ7mZWZ5zdvuCcz72Nnxdnbcb4OW+97bfe7uubd2Dubt2pJDKXXA+fgfBF5VSv0U2ABc1CTkMqXUq8ByGmcJN7Sl9C1Y2HMoWr5LSu2wxux2O/n5+d/Ypvn6ChkozPvMysrSik6scLG6Gi1a2d68H7PVusPKFC7+5sds5WxMy+12ezOF33KdlvswW6FOp5OhQ4c26yHQmly7kke2aatr2a6W7UzePUFb+9jZb/si46Xlvvd2n7u73a7OYV9cy28c89vkgu4zIZTaBoSB6oMtyy5QQPuXETqGnB1BRugYcnYEGaFjyNkRZIQdcvY0DKNwTzduF4ofQCn12d5MWQ4kOoKM0DHk7AgyQseQsyPICB1Dzo4gI3x7OS3KBgsWLFg4xGApfgsWLFg4xNCeFP9fD7YAu4GOICN0DDk7gozQMeTsCDJCx5CzI8gI31LOduPjt2DBggULBwbtyeK3YMGCBQsHAAdd8SulvqeUWqWU+rKpEOxgyvK0UqpKKbXUtCxfKTVTKbWm6W+e6bfbm+RepZQadYBk7K6Uel8ptUIptUwpNbG9yamU8iil5iulFjfJeE97k7GFvHal1EKl1PT2KKdSar1SaolSapFS6rP2KGPTcXOVUv9QSq1sej5PbG9yKqX6NF1H+TQopSa1Qzl/3vTuLFVKvdT0Tu07Gc08FQf6A9iBtUAp4AIWA0cdRHlGAMcCS03LHgZ+2fT9l8BDTd+PapLXDfRuOg/7AZCxGDi26XsWsLpJlnYjJ43VQoGm707gf8AJ7UnGFvLeTGO1+fR2es/XAwUtlrUrGZuO/QxwddN3F5DbHuU0yWsHtgA925OcNJJargO8Tf+/ClyxL2U8YBd5Jyd4IjDD9P/twO0HWaZeNFf8q4Dipu/FwKrWZAVmACceBHn/DYxsr3ICPmABcHx7lBHoRiOtyOnsUPztSk5aV/ztTcbsJmWl2rOcLWQ7C/ikvclJo+LfCOTTyK4wvUnWfSbjwXb1yAkK2iOFczP6acBMP31QZVdK9QIG0WhRtys5m9wni4AqYKZhGO1OxiYI5bi5c3V7k9MAypVSn6tGVtv2KGMpsA34W5Pb7EmllL8dymnGxcBLTd/bjZyGYWwGfkcjFU4lUG8YRvm+lPFgK/7donBupziosiulAsA/gUmGYTS0tWory/a7nIZhpA3DGEijRT1UKdWvjdUPiozKRDm+u5u0suxA3PNhhmEcC4wGblBKjWhj3YMlo4NGN+k0wzAG0UjB0lbM7mC/Py7gXOC1Xa3ayrL9KmeT734sjW6bEsCvlPpRW5u0sqxNGQ+24t8EdDf93w2oOEiy7AxbVSPtNE1/q5qWHzTZlVJOGpX+C4ZhvN5e5QQwDKOOxu5s32uHMg4DzlVKrQdeBk5XSj3f3uQ0DKOi6W8V8C8amW/blYxNx93UNLMD+Af/v727R2kgCMM4/n8rMSJ+YWdhimAnliIWQmySE0QQUngKCQhewBtYWdhKDuABVPwioiIiaKOIJ0jxWswsWUS7mB3Y5wdLJkMgD2T3nezMZhMGgtRyZhrApbt/xOcp5dwEXtz90937hNvgrw0zY9GF/xyomVk1jsAtoFtwpp+6QDu224Q59ay/ZWZjZlYFasDZf4cxMwMOgXt3P0gxp5nNm9l0bI8TduSHlDICuPuuuy+4+yJh3zt19+2UcprZhJlNZm3CXG8vpYwA7v4OvJnZUuyqE+7Qm1TOnC0G0zxZnlRyvgKrZlaJx3ud8H/nw8s4ysWUPxYymoQrU56BTsFZjglzan3CKLoDzBEW/57i42zu9Z2Y+xFojCjjOuE07ha4jlszpZzAMnAVM/aAvdifTMZfMm8wWNxNJidh7vwmbnfZMZJSxtz7rgAX8XM/AWYSzVkBvoCpXF9SOYF9wpelHnBEuGJnaBn1y10RkZIpeqpHRERGTIVfRKRkVPhFREpGhV9EpGRU+EVESkaFX0SkZFT4RURKRoVfRKRkvgE610XfUdNLfgAAAABJRU5ErkJggg==\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "pic2 = mpimg.imread(\"./各个坐标计算.png\")\n",
    "plt.imshow(pic2)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 3、什么是相机的内、外参数矩阵？实际中你能结合身边的实例(如电脑摄像头、手机镜头)说明这些参数的大致值么？"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 相机的内外参数分别描述了不同的功能。\n",
    "#### （1）外参数：描述的是世界坐标系是如何经过旋转平移等操作转为相机坐标系\n",
    "#### （2）内参数：描述的是相机坐标系，通过针孔成像原则，转为图像坐标系或者像平面坐标系。"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 4、说明使用线性法求解相对位姿时的要求输入和输出，以及求解的基本思想。"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### 根据上图的线性方程，已知世界坐标，要求的是外参数。具体如下：\n",
    "#### （1）将内外参数融合为3**4的矩阵，根据已知的图像坐标和世界坐标，一个点可以得出两个方程，11个参数；\n",
    "#### （2）寻找多个（6或者以上）非共面的点，组成方程组，可求解\n",
    "#### （3）同时根据旋转矩阵正交约束，可以计算出第十二个参数。\n",
    "#### （4）QR分解"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 5、说明使用Zhang方法进行相机标定需要的输入条件和得到的具体输出量，以及Zhang方法的主要步骤"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### zhang方法需要输入的有多个pose信息，输出的是相机内参数矩阵。\n",
    "#### 主要步骤如下：\n",
    "#### （1）对每一个pose，计算单应矩阵\n",
    "#### （2）利用3个及以上pose组成方程组，根据单应矩阵计算相机参数\n",
    "#### （3）使用非线性方法计算非线性参数"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "learn",
   "language": "python",
   "name": "py3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
